(Видавництво Львівської політехніки, 2013) Роєнко, Юхим; Волянський, Роман; Садовой, Олександр
The Furuta pendulum provides a compact and impressive device for control demonstrations and draws the attention of the control community as a device for the development of nonlinear control laws. Despite the popularity of the device, there are very few papers which employ the correct dynamics. In this paper, potential and kinetic energy and then the full dynamics of the Furuta pendulum has been found using methods a Lagrangian formulation, and the form of friction corresponding to the real object has been derived.
