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Дата последнего поиска статьи во внешних источниках: 8 апреля 2022 г.
Аннотация:This paper deals with the plane motion of a multi- or single-link pendulum hinged on a movable base,
which is a wheel or a cart. We study the equations describing only the motion of the pendulum, which
are singled out from the mathematical model of the system. They differ from the well-known equations of
motion of a pendulum with a fixed point of suspension. The phase portraits of motion of a single-link
pendulum are constructed under no control and in the case of a bang-bang control. A feedback control is
designed that ensures the global stabilization of the pendulum in the upper unstable equilibrium.