Estimating Dynamics for (DC-motor)+(1st Link) of the Furuta Pendulum
نویسندگان
چکیده
I. PROBLEM FORMULATION The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum attached to the end of the arm moving freely in the vertical plane, see Fig. 1. The equations of motion of the Furuta pendulum, derived from the standard Euler-Lagrange dynamics, are1 (α + β sin θ)φ̈ + γ cos θθ̈ + 2βθ̇φ̇ sin θ cos θ − γθ̇ sin θ = τφ, γ cos θφ̈ + βθ̈ − βφ̇ sin θ cos θ − δ sin θ = τθ.
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