Control of Oscillations, the Algorithms Synthesis Based on the Inversion of the Direct Lyapunov Method

摘要

Problems of control of oscillations are formulated and solved as problems of energy control. The algorithms are synthesized based on the condition that closed-loop systems have given Lyapunov functions. As Lyapunov functions, we employ the total and kinetic energy. Control problems for oscillations of conservative systems, rotational motions of a rigid body relative to the center of mass, and oscillations of a physical pendulum with a controlled suspension point are considered. The results of mathematical simulation are presented.