We investigate several regions of parameter space of a driven pendulum system over which specific phenomena occur. The pivot on which the pendulum hangs is driven in the vertical direction by a periodic force A cos(ωt). We reuse code relevant to the driven pendulum system in SICM: Section 1.6.2 contains the Lagrangian for a driven pendulum in general, Section 1.7 provides for the specific case ...

In order to improve the energy capture efficiency of a multi-pendulum wave energy converter, a mathematical model of the pendulum structure has been built. The final structure parameters of the pendulum have been obtained by using genetic algorithm based on the numerical simulation results of the pendulum structure optimization. The results show that under obtained structure parameters the prop...

This paper compares direct reinforcement learning (no explicit model) and model-based reinforcement learning on a simple task: pendulum swing up. We nd that in this task model-based approaches support reinforcement learning from smaller amounts of training data and eecient handling of changing goals.

This paper concerns Hamiltonian and non-Hamiltonian perturbations of integrable two degree of freedom Hamiltonian systems which contain homoclinic and periodic orbits. Our main example concerns perturbations of the uncoupled system consisting of the simple pendulum and the harmonic oscillator. We show that small coupling perturbations with, possibly, the addition of positive and negative dampin...

In the context of simple mechanical systems with symmetry, we give a method based on blowing up the amended potential for obtaining symmetry-breaking branches of relative equilibria bifurcating from a given set of symmetric relative equi-libria. The general method is illustrated with two concrete mechanical examples, the double spherical pendulum and the symmetric coupled rigid bodies.

Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions. ! 1999 Elsevier Science Ltd. All righ...

Many engineering and natural systems are dynamical systems. For example a pendulum is a dynamical system. l mg 2 Figure 1. Simple pendulum. State The state of the dynamical system specifies it conditions. For a pendulum in the absence of external excitation shown in the figure, the angle and the angular velocity uniquely define the state of the dynamical system. Plots of the state variables aga...

The string pendulum consists of a mass attached to the end of an inextensible string which is fastened to a support. Applying an external forcing to the pendulum’s support is motivated by understanding the behavior of suspension bridges or of tethered structures during earthquakes. The forced string pendulum can go from taut to slack states and vice versa, and is capable of exhibiting interesti...

Generally the inverted pendulum is unstable, because the pendulum will fall downward due to the gravitational force acting on mass of the pendulum. Keeping the pendulum at vertically inverted position, the position of DC motor shaft needs to be controlled using closed loop analysis. For closed loop analysis, feedback or input device such as encoder is used. To control and set the pendulum at de...

In this paper we derive a nonlinear control law for stabilization of the Furuta pendulum system with the pendulum in the upright position and the rotating rigid link at rest at the origin. The control law is derived by first applying feedback that makes the Furuta pendulum look like a planar pendulum on a cart plus a gyroscopic force. The planar pendulum on a cart is an example of a class of me...