Abstract
This study considers the problem of suppressing oscillation of a pendulum with a slider crank mechanism by which the rotary motion of the actuated crank is converted to the horizontal motion of the pivot on the slider. A stability condition for the pendulum is obtained using a Lyapunov-type function, and based on this condition two nonlinear control laws for the crank angle are constructed that effectively suppress the oscillation of the pendulum with a constant amplitude of the pivot. These controls are taken over by a linear one in some neighorhood of the equilibrium point to stabilize the whole state of the system. Numerical and experimental results are given to demonstrate the effectiveness of the proposed methods.
