Abstract:
A dynamic model of a controlled physical pendulum is considered. The control strategy is proposed to provide the orbital stability of steady oscillations with a program amplitude. The corresponding control torque is determined using the Pontryagin method of searching for the periodic solutions of near-Hamiltonian systems. An approach to identify the parameters of a model of friction in the hinge is proposed for the case of an active motor mode. This approach is based on the information on the integral characteristics of motion. The motion of the system under consideration is numerically simulated.
Key words:identification of friction, steady motions, control.
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