Bifurcation Analysis and Dynamic Behaviour of an Inverted Pendulum with Bounded Control

Abstract

Abstract This paper presents an investigation on the behaviour of con- ventional inverted pendulum with an inertia disk in its free extreme. The system is actuated by means of torques applied to the disk by a DC mo- tor, mounted on the pendulum’s arm. Thus, the system is underactuated since the pendulum can rotate freely around its pivot point. The dynam- ical model is given with three ordinary nonlinear differential equations. Using Poincare-Andronov-Hopf’s theory, we find a new analytical formula for the first Lyapunov’s value at the boundary of stability. It enables one to study in detail the bifurcation behaviour of the above dynamic system. We check the validity of our analytical results on the first Lyapunov’s value by numerical simulations. Hence, we find some new results.