Simultaneous design of slider-crank mechanism considering closed-loop system stability

This paper presents a simultaneous design method of structure and control for slider-crank mechanism. A slider-crank mechanism together with a controller has been widely used in the engineering. As the structural design and controller design impact each other, simultaneous design is imperative in order to ensure system optimum. By introducing the Lyapunov function, the stability is also taken into account considering that stability is the most basic requirements of a closed-loop system. The numerical examples demonstrate the validity and correctness of the method. Furthermore, this model and method are also suitable for other mechanisms.