Wavelets transform for nonlinear control of multibody systems

The paper solves using wavelet transform a nonlinear control problem of multibody systems. After, we present a wavelet collocation method to solve a nonlinear time-evolution problem, discrete wavelet transform and the algorithm for interpolation functions and the derivative matrix. We consider a nonlinear quadratic control for an inverted pendulum as a numerical example. The results, using Haar wavelets in algebrization of problem, are accurate compared with those from the literature. The method can be extended for any nonlinear control problem obtaining better results than other procedure for localized phenomena.