@inbook{c2e60ca26b554e8c9243041b409a2528,

title = "Swinging control of two-pendulum system under energy constraints",

abstract = "A method for control of mechanical systems under phase constraints, applicable to energy control of Hamiltonian systems is proposed. The constrained energy control problem for two pendulums by a single control action is studied both analytically and numerically. It is shown that for a proper choice of penalty parameter of the algorithm any energy level for the one pendulum under any specified constraint on the energy of the other pendulum can be achieved. Simulation results confirm fast convergence rate of the algorithm.",

author = "M.S. Ananyevskiy and A.L. Fradkov and H. Nijmeijer",

year = "2009",

language = "English",

isbn = "978-981-4282-31-4",

series = "World scientific series on nonlinear science. Series B",

publisher = "World Scientific",

pages = "167--179",

editor = "G. Leonov and H. Nijmeijer and A. Pogromsky and A. Fradkov",

booktitle = "Dynamics and control of hybrid dynamical systems",

address = "United States",

}