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Publicado en línea: 26 dic 2018
Páginas: 11 - 18
DOI: https://doi.org/10.2478/scjme-2018-0043
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© 2018 Vizi Máté Benjámin et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.
Traditionally, the Furuta pendulum was used for testing advanced control strategies on a simple nonlinear and underactuated structure. In this paper, we investigate analytically and experimentally the dynamical description of the Furuta pendulum focusing on the effect of dry friction on a special bifurcation behaviour of the downward equilibrium position.