Линеаризация математической модели маятника Фуруты

Abstract

Managing structurally unstable objects using classical methods does not achieve the required stability. Using the Furuta pendulum model described by the second-order Euler-Lagrange equation allows us to derive non-linear control laws that will provide the required stabilization quality. The obtained model of the linearized system is written down in a convenient form for the analytical design of the controllers.