Mechanical systems have structural properties, e.g. symplecticity, symmetry, and a specific energy behavior, which get lost in standard integration methods. Therefore, symplectic integration methods are used in simulation and control of mechanical systems. This paper combines two methods of the class of structure‐preserving control methods, namely a recently developed feedback control method and open loop optimal control based on variational integrator discretization. The combination is applied to the benchmark example of a cart pendulum system. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
Proceedings in Applied Mathematics & Mechanics – Wiley
Published: Jan 1, 2017
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