Approximate “Controlled Lagrangian” stabilization of the furuta pendulum

Stabilization of mechanical control systems by the method of controlled Lagrangians in an approximate version, is used to analyze asymptotic stabilization of systems whose dynamics are governed by the Euler-Lagrange equations. The method is applied to the Furata pendulum. The approximation produces controlled near conservative stable orbits that can be asymptotically stabilized introducing dissipation.