Abstract
Design methods of control systems for positioning and vibration suppression of a flexible pendulum hinged to a cart are investigated analytically and experimentally. The analysis of characteristic root loci shows that the LQ regulators designed by neglecting higher-order elastic modes are subject to become unstable because of the excitation of the residual modes. It is also shown that the design method to optimize the frequency-shaped cost functionals proposed by Gaupta is effective to turn the effect of control forces on the higher-order modes to the stable side. The analytical results are examined by experiments.
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