Generating self-excited oscillations via two-relay controller

Luis T. Aguilar, Igor Boiko, Leonid Fridman, Rafael Iriarte

Research output: Contribution to journalArticlepeer-review

53 Scopus citations


A tool for the design of a self-excited oscillation of a desired amplitude and frequency in linear plants by means of the variable structure control is proposed. An approximate approach based on the describing function method is given, which requires that the mechanical plant should be a low-pass filter-the hypothesis that usually holds when the oscillations are relatively fast. The proposed approach is demonstrated via the controller design and experiments on the Furuta pendulum.

Original languageBritish English
Pages (from-to)416-420
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number2
StatePublished - 2009


  • Frequency domain methods
  • Periodic solution
  • Underactuated systems
  • Variable structure systems


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