Controlled Lagrangians and Stabilization of the Discrete Cart-Pendulum System

摘要

Matching techniques are developed for discreteudmechanical systems with symmetry. We describe new phenomenaudthat arise in the controlled Lagrangian approach for mechanicaludsystems in the discrete context. In particular, one needsudto either make an appropriate selection of momentum levels orudintroduce a new parameter into the controlled Lagrangian toudcomplete the matching procedure. We also discuss digital andudmodel predictive control.ud