Fixed point transformation-based adaptive control of the Furuta Pendulum

In this paper Furuta's Pendulum is considered as a paradigm of strongly nonlinear, dynamically singular under-actuated physical systems, for the control of which a novel, Fixed Point Transformation-based control is proposed and numerically investigated via simulations. It is shown that the suggested method is able to precisely control this system within some limitations in the nominal trajectory that are related to the dynamic singularities of this pendulum. It is shown that for achieving precise control it is satisfactory to adaptively tune only one of the controller's parameters. This tuning can be carried out by the application of a model-independent filter.