Search results for "Pendulum"
showing 5 items of 25 documents
LQG Control Design for Balancing an Inverted Pendulum Mobile Robot
2011
Author's version of an article published in the journal: Intelligent Control and Automation. Also available from the publisher at: http://dx.doi.org/10.4236/ica.2011.22019 The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system succe…
Rotation Forms and Local Hamiltonian Monodromy
2017
International audience; The monodromy of torus bundles associated with completely integrable systems can be computed using geometric techniques (constructing homology cycles) or analytic arguments (computing discontinuities of abelian integrals). In this article, we give a general approach to the computation of monodromy that resembles the analytical one, reducing the problem to the computation of residues of polar 1-forms. We apply our technique to three celebrated examples of systems with monodromy (the champagne bottle, the spherical pendulum, the hydrogen atom) and to the case of non-degenerate focus-focus singularities, re-obtaining the classical results. An advantage of this approach …
“L’Absence d’amour : L’Europe du Sud et ses représentations dans ‘The Pit andthe Pendulum’ et ‘The Cask of Amontillado.’”
1992
International audience
Narration et Conspiration. Formes de la bêtise dans le Pendule de Foucault
2018
Dans cet article, nous proposons une lecture du Pendule de Foucault qui vise à extraire du texte littéraire une théorie de la stupidité et de la raison. Pour le texte de ce roman, il y a plusieurs formes de la bêtise, mais la formulation de cette classification est faite par un personnage ivre et dans un moment très particulier du roman. Ainsi la forme de la narration, celle de la conspiration et la théorie de l’irrationalisme se construisent parallèlement, pendant l’histoire. The aim of this study is to return to the question of the relationship between the plot of the Pendule de Foucault and the hermetic semiosis or the question of irrationalismby nuancing this report, not in the sense of…
Abelian Integrals: From the Tangential 16th Hilbert Problem to the Spherical Pendulum
2016
In this chapter we deal with abelian integrals. They play a key role in the infinitesimal version of the 16th Hilbert problem. Recall that 16th Hilbert problem and its ramifications is one of the principal research subject of Christiane Rousseau and of the first author. We recall briefly the definition and explain the role of abelian integrals in 16th Hilbert problem. We also give a simple well-known proof of a property of abelian integrals. The reason for presenting it here is that it serves as a model for more complicated and more original treatment of abelian integrals in the study of Hamiltonian monodromy of fully integrable systems, which is the main subject of this chapter. We treat i…