Furuta Pendulum
The Furuta pendulum, or rotational inverted pendulum, consists of a driven arm which rotates in the horizontal plane and a pendulum attached to that arm which is free to rotate in the vertical plane. It was invented in 1992 at Tokyo Institute of Technology by Katsuhisa FurutaXu, Y., Iwase, M. and Furuta, K. (2001) “Time optimal swing-up control of single pendulum”, Journal of Dynamic Systems, Measurement, and Control, 123(3), 518-527.Furuta, K., Iwase, M. (2004) “Swing-up time analysis of pendulum”, Bulletin of the Polish Academy of Sciences: Technical Sciences, 52(3), 153-163.Iwase, M., Åström, K.J., Furuta, K. and Åkesson, J. (2006) “Analysis of safe manual control by using Furuta pendulum”, Proceedings of the IEEE International Conference on Control Applications, 568-572. and his colleagues. It is an example of a complex nonlinear oscillator of interest in control system theory. The pendulum is underactuated and extremely non-linear due to the gravitational f ...
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