Acosta Rodríguez, José Ángel2025-08-052025-08-052010-03Acosta Rodríguez, J.Á. (2010). Furuta’s Pendulum: A Conservative NonlinearModel for Theory and Practise. Mathematical Problems in Engineering, 2010 (1), 1-29.https://doi.org/10.1155/2010/742894.1563-51471024-123Xhttps://hdl.handle.net/11441/176001Furuta's pendulum has been an excellent benchmark for the automatic control community in the last years, providing, among others, a better understanding of model-based Nonlinear Control Techniques. Since most of these techniques are based on invariants and/or integrals of motion then, the dynamic model plays an important role. This paper describes, in detail, the successful dynamical model developed for the available laboratory pendulum. The success relies on a basic dynamical model derived from Classical Mechanics which has been augmented to compensate the non-conservative torques. Thus, the quasi-conservative practical model developed allows to design all the controllers as if the system was strictly conservative. A survey of all the nonlinear controllers designed and experimentally tested on the available laboratory pendulum is also reported. © 2010 J. Á. Acosta.application/pdf29 p.engAttribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/AutomationControlControllersMechanicsinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1155/2010/742894