Exponential and BIBS stabilisation of one degree of freedom mechanical systems subject to single non-smooth impacts

The problem of exponential and bounded-input bounded-state (BIBS) stabilisation of one degree of freedom mechanical systems subject to single nonsmooth impacts, both elastic and inelastic (i.e. with coefficient of restitution e=1 and e∈[0, 1), respectively), is considered, under the assumption that the state variables of the system are measurable. To validate the proposed control law, both simulation and experimental tests have been carried out and are briefly reported