Abstract
A design of a nonlinear control for a class of single input and double outputs mechanical systems is discussed. The proposed nonlinear control system resolves some problems of oscillation or unstable phenomena, which arise when conventional linearization methods are applied to the mechanical systems. In the design the eigenvalues of the closed loop nonlinear system are assigned to desired locations and asymptotic stability of the system is guaranteed.
The design method is applied to an inverted pendulum system with moving weight. A simulation results show that the motion of the pendulum converges stably to its zero position when the crane is moved stepwisely.
