Generating self-oscillations in furuta pendulum

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

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


This chapter illustrates the DF, Poincaré maps, and LPRS to obtain the desired amplitude and frequency of SO of an experimental Furuta pendulum. The problem becomes more complicated when oscillations are around an open-loop unstable equilibrium point that corresponds to the upright position of the pendulum. Recalling that TRC design requires linear model of the plant, such linearization was made through Taylor expansion around an unstable equilibrium point. The experimental results illustrate motions at several velocities (frequency) and maximum position (amplitude), and then TRC supply, for generic SO of a wide range of frequencies.

Original languageBritish English
Title of host publicationSystems and Control
Subtitle of host publicationFoundations and Applications
Number of pages8
StatePublished - 2015

Publication series

NameSystems and Control: Foundations and Applications
ISSN (Print)2324-9749
ISSN (Electronic)2324-9757


  • Coulomb friction
  • Describe function
  • Equilibrium point
  • Homoclinic orbit
  • Periodic motion


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