Lyapunov-Based PD Linear Control of the Oscillatory Behavior of a Nonlinear Mechanical System: The Inverted Physical Pendulum with Moving Mass Case

<table>Inverted pendulum with a radially moving mass. The pendulum is anchored to the pivot point using a restoring torsion spring, which maintains the system in a stable upright position (but not asymptotically stable).</table>

Mathematical Problems in Engineering

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Figure 1: Lyapunov-Based PD Linear Control of the Oscillatory Behavior of a Nonlinear Mechanical System: The Inverted Physical Pendulum with Moving Mass Case 

Figure 1 | Lyapunov-Based PD Linear Control of the Oscillatory Behavior of a Nonlinear Mechanical System: The Inverted Physical Pendulum with Moving Mass Case 