Nonsmooth Dynamics, Bifurcation and Control in an Impact System

ISSN： 0232-9298

Source： Systems Analysis Modelling Simulation, Vol.43, Iss.3, 2003-03, pp. : 343-360

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Abstract

A summary of results of extensive theoretical and numerical investigations on the dynamics and control of an inverted pendulum with rigid unilateral constraints is presented. The system is subjected to optimal excitations which permit to reduce the theoretically chaotic region in the parameter plane, and to suitably modify the nonlinear dynamics. Several bifurcations, both classical and nonclassical, determine the transition between different dynamical regimes. Attention is devoted to local and global bifurcations, and to the analysis of phenomena which are directly related to the nonsmooth nature of the system. The performances of the optimal excitations are numerically evaluated by comparison with the reference case of harmonic force, and it is shown how it is possible to improve some technical requirements of the dynamics through proper implementations of the optimal excitations.