Speed Gradient Energy and Sampled-Data Control of Cart-Pendulum System*

The possibilities of implementation for energy-based control of nonlinear oscillations are studied. This approach is based on the speed gradient method and energy-based goal functions. The approach is analysed by example of cart-pendulum system control. As a result of the research the algorithm of a swing of the pendulum on the cart is obtained. Vertical stabilization algorithm is based on sampled-data control of linear systems under uncertain sampling with the known upper bound on the sampling intervals. Working capacity of algorithms is confirmed by simulating in MATLAB Simulink. Experimental set-ups controlled by program block LEGO Mindstorms NXT are described.