The Extended Λ-method for Controlled Lagrangian Systems
نویسنده
چکیده
This paper extends the λ-method, which was developed in (Auckly et al., 2000; Auckly and Kapitanski, 2003) to solve effectively PDE’s involved in the method of controlled Lagrangian systems, by taking into account a gyroscopic term. The gyroscopic force provides more free parameters when one designs stabilizing controllers in the method of controlled Lagrangian systems. We illustrate the extended λ-method in the example of the Furuta pendulum. Copyright c 2005 IFAC.
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