Global Stabilization Control of a Translational Oscillator with a Rotational Actuator

Abstract

This paper concerns the design of PD control law for achieving a global asymptotic stabilization of a translational oscillator with a rotational actuator (TORA) by using its the normalized equations. To suppress the oscillation of the TORA faster, we provide a method to select the control parameters by using the dominant pole of closed-loop system. We also investigate numerically the relationship among the speed of the convergence of asymptotic stabilization, the mechanical parameters of the TORA, and the control parameters. Finally, the effectiveness of proposed method is illustrated by numerical simulations. These results provide some insight into the mechanical design and control of the TORA.