This paper presents the application of discrete-time variable structure control with sliding mode based on the ‘reaching law’ method for robust control of a ‘simple inverted pendulum on moving cart’ a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is car...

A thrust stand calibration technique for use in testing repetitively pulsed electric thrusters for in-space propulsion has been developed and tested using a modified hanging pendulum thrust stand. In the implementation of this technique, current pulses are applied to a solenoid to produce a pulsed magnetic field that acts against a permanent magnet mounted to the thrust stand pendulum arm. The ...

Matching techniques are applied to the problem of stabilization of uniformly accelerated motions of mechanical systems with symmetry. The theory is illustrated with a simple model—a wheel and pendulum system.

The Wilberforce pendulum provides an important qualitative demonstration of coupled harmonic oscillators, but quantitative measurements are not typically performed. The present work examines the dynamics of a simple pendulum comprising a steel spring with attached mass using an ultrasonic motion detector. A series of measurements allowed determination of the coupling constant between the longit...

This article describes a unit on oscillations, determinism and chaos developed for calculus-based introductory physics students as part of the laboratory-centered Workshop Physics curriculum. Students begin by observing the motion of a simple pendulum with a paper clip bob with and without magnets in its vicinity. This observation provides an introduction to the contrasting concepts of Laplacia...

We examine two prevailing, yet surprisingly contradictory, theories of human walking. The six determinants of gait are kinematic features of gait proposed to minimize the energetic cost of locomotion by reducing the vertical displacement of the body center of mass (COM). The inverted pendulum analogy proposes that it is beneficial for the stance leg to behave like a pendulum, prescribing a more...

Abstract. We investigate the dynamics of a simple pendulum coupled to a horizontal mass-spring system. The spring is assumed to have a very large stiffness value such that the natural frequency of the mass-spring oscillator, when uncoupled from the pendulum, is an order of magnitude larger than that of the oscillations of the pendulum. The leading order dynamics of the autonomous coupled system...

This paper reports measurements of yield stress of aqueous foams approaching the dry foam limit using a pendulum device. Traditionally, the vane rheometer has been used to measure the yield stress in liquids that exhibit wall slip. However, using the simple and inexpensive pendulum technique, shear rates many orders of magnitudes lower can be achieved. The pendulum was used to observe the chang...