Energy control of the pendulum without measuring its angular velocity

Ruslan Seifullaev, Alexander Fradkov, Emilia Fridman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


It is well-known that the state-feedback control law based on the speed gradient method can stabilize the pendulum's energy. This control employs measurements of the pendulum's angular displacement and angular velocity. In the present paper, we aim to stabilize the pendulum's energy by using the angular measurement only. We suggest a time-delay implementation of the above state-feedback control law. The resulting delayed static output-feedback practically stabilizes the pendulum's energy. We propose a precise characterization of the energy deviation bound that depends on the delay value. A numerical example demonstrates the efficiency of the results.

Original languageEnglish
Title of host publicationEuropean Control Conference 2020, ECC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783907144015
StatePublished - May 2020
Event18th European Control Conference, ECC 2020 - Saint Petersburg, Russian Federation
Duration: 12 May 202015 May 2020

Publication series

NameEuropean Control Conference 2020, ECC 2020


Conference18th European Control Conference, ECC 2020
Country/TerritoryRussian Federation
CitySaint Petersburg


FundersFunder number
Russian Foundation for Basic Research19-08-00865
Tel Aviv University


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