Stabilizing control for a single pendulum by moving the center of gravity. An investigation by numerical experiment

For a single pendulum having controllable rod length, a variable structure system, a stabilizing control law that damps the swing has been developed using Lyapunov's method. In deriving the law, the nonlinearities of the system are considered outright. The control system has a structure where the rod length is changed according to /spl theta/ and /spl theta//spl dot/ (/spl theta/ represents the rod angle) and uses the Coriolis force favorably.