Trabalho apresentado em evento
On an Optimal Linear Control Applied to a Non-Ideal Load Transportation System, Modeled with Periodic Coefficients
Advances In Mechanical Engineering, Pts 1-3. Stafa-zurich: Trans Tech Publications Ltd, v. 52-54, p. 13-18, 2011.
Universidade Estadual Paulista (Unesp)
In this paper, a load transportation system in platforms or suspended by cables is considered. It is a monorail device and is modelled as an inverted pendulum built on a car driven by a DC motor. The governing equations of motion were derived via Lagrange's equations. In the mathematical model we consider the interaction between the DC motor and the dynamical system, that is, we have a so-called non-ideal periodic problem. The problem is analysed and we also developed an optimal linear control design to stabilize the problem.