Geodesic
On the optimal stabilization of a double mathematical pendulum having a movable suspension center
Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 3 (2011), pp. 31-39.

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The problem of optimal stabilizatioin of a double pendulum, when its suspension center moved in the horizontal direction according to the given law, has been treated. The problem was reduced to the case of a linear nonuniform system that was solved in the event when the first and the second pendulums had equal masses and lengths. An optimal Lyapunov function and an optimal control action have been constructed.
Keywords: driven double pendulum, optimal stabilization, Lyapunov function, Lyapunov–Bellman method.
Mots-clés : equations of motion, Lagrange's equations 
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S. G. Shahinyan; G. N. Kirakosyan. On the optimal stabilization of a double mathematical pendulum having a movable suspension center. Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 3 (2011), pp. 31-39. http://geodesic.mathdoc.fr/item/UZERU_2011_3_a4/

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