Abstract
The analysis and design of methods to damp the swing of the variable length pendulum by adjusting its length are presented here. To analyze the theoretical limits of such Coriolis force based damping, a comprehensive open-loop numerical analysis is performed for a two-dimensional model having the string length as the controlled input. Further, for a four dimensional model, having the force applied to the string as the controlled input, a smooth static state feedback controller is designed using backstepping. Results are verified both in simulations and through extensive laboratory experiments, and compared with previously published results achievable using an identical experimental setting.
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