A controller of the pendubot using quasi-velocities

An energy based control problem of the pendubot in terms of normalized quasi-velocities (NQVs) is considered in this paper. Introducing the NQVs vector together with generalized coordinates leads to first-order equations of motion with the identity mass matrix of the system. The obtained differential equations are next used to design decoupled controller for stabilizing the system around one of its unstable equilibrium position. The controller was compared analytically and in simulation to the analogous classical controller.