Hamiltonian-Based Control Approach with Pendulum Application

The paper proposes a design method dedicated to control systems, which use a certain energy function (surface), called the Hamiltonian of the system. The plant requires, most of the time, the convergence at different fixed points and at the same time in different ways (different behaviors). This phenomenon is possible by modifying the initial energy surface. Modification of the energy surface can be achieved by external (generalized) forces. The formalism suggested in this paper allows the calculation of generalized forces and, finally, to obtain the mentioned changes.