Analytical and Experimental Analyses of Nonlinear Vibrations in a Rotary Inverted Pendulum, M.Sc. Thesis Sharif University of Technology ; Khayyat, Amir Ali Akbar (Supervisor) ; Pasharavesh, Abdolreza (Co-Supervisor)
Abstract
Investigation of possible vibratory responses of dynamical systems around their stable equilibria is an essential step which must be taken before their both design and application. The attained results of such a study can largely help to prevent instability in closed-loop stabilized systems by avoiding excitation of the system in the neighborhood of its resonance. In this paper, nonlinear oscillations of a Rotary Inverted Pendulum (RIP) enjoying a full-state feedback controller is investigated. Lagrange’s equations are employed to derive an accurate 2-DoF mathematical model whose parameters are extracted by both measurement and 3D modeling of the real system components. The perturbative...
Cataloging briefAnalytical and Experimental Analyses of Nonlinear Vibrations in a Rotary Inverted Pendulum, M.Sc. Thesis Sharif University of Technology ; Khayyat, Amir Ali Akbar (Supervisor) ; Pasharavesh, Abdolreza (Co-Supervisor)
Abstract
Investigation of possible vibratory responses of dynamical systems around their stable equilibria is an essential step which must be taken before their both design and application. The attained results of such a study can largely help to prevent instability in closed-loop stabilized systems by avoiding excitation of the system in the neighborhood of its resonance. In this paper, nonlinear oscillations of a Rotary Inverted Pendulum (RIP) enjoying a full-state feedback controller is investigated. Lagrange’s equations are employed to derive an accurate 2-DoF mathematical model whose parameters are extracted by both measurement and 3D modeling of the real system components. The perturbative...
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