A Time-optimal Problem of Stopping a Two-link Pendulum on a Movable Mount

Abstract

We consider a time-optimal problem of stopping a two-link pendulum on a movable mount. Given nonlinear system with the lack of and limitation on the control resource is linearized in the neighborhood of a stable equilibrium position. For a linearized system the Pontryagin maximum principle is used and the optimal control law obtained. To estimate parameters of the law basing on finding out an orthogonal subspace was an algorithm developed for constructing a time-optimal system control. A software module has been developed in the Matlab environment with the help of which a comparison of the dynamics of linear and nonlinear systems with the obtained control law was made.