Effect of Dry Friction on Bifurcation Diagram of Furuta Pendulum

Abstract

Abstract Traditionally, the Furuta pendulum was used for testing advanced control strategies on a simple nonlinear and underactuated structure. In this paper, we investigate analytically and experimentally the dynamical description of the Furuta pendulum focusing on the effect of dry friction on a special bifurcation behaviour of the downward equilibrium position.