Start Control of Parametric Pendulum into Periodic Rotation

Abstract

Parametrically excited pendulum inherently demonstrates a conversion from forcing vibration to rotational motion. The onset of periodic rotation strongly depends on the initial condition. We propose a control method to start up a parametric pendulum into periodic rotation based on an external force input with time delay. The feasibility of proposed method is verified numerically and experimentally. This paper advocates that the proposed method is suitable for crossing over a separatrix which governs the dynamics from initial conditions.