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    Vadim Belotelov

    Michurinsky Pr. 1, Moscow, 119192, Russia
    Research Institute of Mechanics, M.V. Lomonosov Moscow State University


    Belotelov V. N.
    The problem of determining the phase coordinates of a pendulum on a cylinder by measurements of the inclination angle of the cylinder relative to the pendulum is formulated and solved. A necessary and sufficient condition for observability is found. A linear Luenberger observer is constructed whose output variables are used to close a linear feedback control system. Numerical experiments are performed showing the possibility of using this type of control (by means of variables of the observer) in a nonlinear model of controlled motion of a pendulum on a cylinder.
    Keywords: linear observer, Luenberger observer, inverted pendulum, pendulum on a cylinder, two-wheeled pendulum
    Citation: Belotelov V. N.,  The problem of determining the inclination angle of a pendulum on a cylinder, Rus. J. Nonlin. Dyn., 2011, Vol. 7, No. 4, pp.  837-844

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