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Double Pendulum System Essay

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ENERGY BASED CONTROL OF MECHANICAL SYSTEM Oisik Mishra, M.Tech (Energy Systems), Dept. of Electrical Power & Energy Engg, University of Petroleum & Energy Studies, Dehradun, Uttarakhand, India-248007, mail: oisik.mishra@stu.upes.ac.in Mukul Kumar Gupta, Assistant Professor, Dept. of Electronics, Instrumentation & Control Engg, University of Petroleum & Energy Studies, Dehradun, Uttarakhand, India-248007, mail: mkgupta@ddn.upes.ac.in ABSTRACT This paper is on Energy based Control of Mechanical Systems using Lagrangian and Hamiltonian approach. These approaches can be used to understand the non-linearity and further to control a dynamic system efficiently by using the Kinetic and Potential Energy of the system. Here, we choose an inverted Double Pendulum System as the mechanical system for our analysis. We determine the equations of motions for the double pendulum system using the Lagrangian and Hamiltonian Mechanics and further we implement these concepts to analyse the non-linear properties of the system and further simulate the system in MATLAB. INTRODUCTION …show more content…

These concepts of Lagrangian and Hamiltonian Mechanics use the Kinetic and Potential Energy of the system. We first determine the equations of motion for the inverted double pendulum system using the concepts of Hamiltonian and Lagrangian Approach and then we determine the state space for the system and we simulate the system in MATLAB to observe the non-linear characteristics of the system. These observations can be used further to design an efficient control system for the inverted double pendulum system from the energy based approach. But this paper is restricted only to the study of the non-linearity of the system and simulation of the system in

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