Hindawi Publishing CorporationJournal of Nonlinear DynamicsVolume 2013, Article ID 824701, 9 pageshttp://dx.doi.org/10.1155/2013/824701
Research ArticleStabilization of Driven Pendulum with Periodic Linear Forces
Babar Ahmad
COMSATS Institute of Information Technology, Islamabad 44000, Pakistan
Correspondence should be addressed to Babar Ahmad; [email protected]
Received 27 March 2013; Revised 18 August 2013; Accepted 23 August 2013
Academic Editor: Huai-Ning Wu
Copyright Β© 2013 Babar Ahmad.This is an open access article distributed under the Creative CommonsAttribution License, whichpermits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
UsingKapitzamethod of averaging for arbitrary periodic forces, the pendulumdriven by different forms of periodic piecewise linearforces is stabilized. These periodic piecewise linear forces are selected in the range [β1, 1] to establish an exact comparison withharmonic forces. In this contest, the rectangular force was found to be the best, but this force is more effective when it has a time-dependent structure. This time-dependent structure is found by defining a parametric control on some other periodic piecewiselinear forces.
1. Introduction
A pendulum with fixed suspension has only one stable point,while a pendulum whose suspension has fast oscillation canhavemore stable points (can oscillate). Such phenomenawerefirst studied by Stephenson in 1908 [1β3]. In 1951, Kapitzapresented this problem in a different way [4], so-calledKapitza pendulum. In 1960, Landau et al. studied the stabilityof such a system driven by harmonic force [5].Then, its rapidgrowing applications started such as trapping of particles bylaser [6β8], control of robotic devices [9, 10], effect on priceequilibrium [11], and control by lasers in cybernetics [12].Next in place of harmonic forceAhmad andBorisenok (2009)used periodic kicking forces, modifying Kapitza method forarbitrary periodic forces [13]. Also, Ahmad used symmetricforces and stabilized the system with comparatively lowfrequency of fast oscillation [14].
2. Kapitza Method for ArbitraryPeriodic Forces
A classical particle of mass π is moving in time-independentpotential field π and a fast oscillating control field. Forsimplicity, consider one-dimensional motion.Then, the forcedue to time-independent potential π(π₯) is
π1
(π₯) = βππ
ππ₯, (1)
and a periodic fast oscillating force with zeromean in Fourierseries is
π2
(π₯, π‘) =
β
βπ=1
[ππ
(π₯) cos (πππ‘) + ππ
(π₯) sin (πππ‘)] . (2)
This fast oscillation has frequency π β‘ 2π/π β« 2π/ππ
β‘ π0.
Here,π0is the frequency ofmotion due toπ
1.Themean value
of a function is denoted by bar and is defined as
π =1
πβ«π
0
π (π₯, π‘) ππ‘. (3)
Also, the Fourier coefficient π0is
π0
(π₯) =2
πβ«π
0
π2
(π₯, π‘) ππ‘. (4)
From (3) and (4), it follows that
π β π0. (5)
In (2), ππand ππare the Fourier coefficients given as
ππ
(π₯) =2
πβ«π
0
π2
(π₯, π‘) cos πππ‘ ππ‘,
ππ
(π₯) =2
πβ«π
0
π2
(π₯, π‘) sin πππ‘ ππ‘.
(6)
2 Journal of Nonlinear Dynamics
Due to (1) and (2), the equation of motion is
ποΏ½ΜοΏ½ = π1
(π₯) + π2
(π₯, π‘) . (7)
Here at a time twomotions are observed: one along a smoothpath due to π
1and the other small oscillations due to π
2. So
the path can be written as π₯(π‘) = π(π‘) + π(π‘) (see Figure 1).Here, π(π‘) represents small oscillations.By averaging procedure, the effective potential energy func-tion is [13]
πeff = π +1
4ππ2
β
βπ=1
(π2
π+ π2
π)
π2. (8)
The pendulum driven by a periodic force is stabilized byminimizing (8). These forces are chosen in the range [β1, 1]
to establish an exact comparison with harmonic forces. Next,an π-parametric control is developed with one of the drivingforces and has better results.
3. The Pendulum Driven by Harmonic Force
Consider a pendulum whose point of support oscillates hori-zontally (see Figure 3), under the influence of harmonic force(Kapitza pendulum). The harmonic force is (see Figure 2)
π (π‘) = sinππ‘ if 0 β€ π‘ < π, (9)
and the fast oscillating force is
π2
(π, π‘) = ππ2 cosππ (π‘) (10)
with the meaning π2
= 0, which follows from the Fouriercoefficient π
0= 0, for (9). The other Fourier coefficients are
given by using (6):
ππ
= 0,
ππ
= ππ2 cosπ.
(11)
Then, the forces acting on the particle are
π1
= βπ (βπππ cosπ)
ππ,
π2
= ππ2 cosπ sin (ππ‘) ,
(12)
and the effective potential energy is obtained by using (8):
ππff = πππ (β cosπ +
π2
4ππcos2π) . (13)
The stable equilibrium is found by minimizing (13). πeff hasthe extrema at π = 0, π, Β±arccos 2ππ/π
2.
(i) The downward point π = 0 is stable if π2
< 2ππ.(ii) Vertically upward point π = π is not stable.(iii) The point given by cosπ = 2ππ/π
2 is stable ifπ2
> 2ππ
[5].
These stable points are illustrated in Figure 4.
0 TU
Figure 1: Path of the particle.
β1
0
1
T
Figure 2: Harmonic force.
π
π = 0
l
m
0
fβsin πt
Figure 3: Horizontal modulation with harmonic force.
4. The Pendulum Driven by Periodic PiecewiseLinear Forces
The goal is to stabilize the pendulum with low frequency ascompared to harmonic force. Next, this harmonic force isreplaced with some periodic piecewise linear forces within
Journal of Nonlinear Dynamics 3
π
π = 0
l
m
0
Figure 4: Stable points with horizontal oscillations.
the range of harmonic force. These periodic piecewise linearforces are π-periodical: π (π‘ + π, π) β‘ π (π‘, π). For horizontalmodulation, the force acting on the particle is
π2
(π, π‘) = ππ2 cosπ β π (π‘, π) . (14)
4.1. Triangular Type Force. First of all introduce the triangulartype force (see Figure 5) given by
π π (π‘) =
{{{{{{{{{
{{{{{{{{{
{
4
ππ‘ if 0 β€ π‘ <
π
4,
4
π(βπ‘ +
π
2) if π
4β€ π‘ <
3π
4,
4
π(π‘ β π) if 3π
4β€ π‘ < π.
(15)
For (15), the Fourier coefficient π0
= 0 indicates π π
= 0. TheFourier expansion of (14) is
π2
(π, π‘) = ππ2 cosπ
8
π2
Γ
β
βπ=0
(β1)π
(2π + 1)2sin(
2π (2π + 1) π‘
π) .
(16)
With
ππ
= 0,
ππ
= ππ2 cosπ
8
π2(β1)π
(2π + 1)2,
(17)
the effective potential energy is
πeff = π + ππ2cos2π β
1
4(
8
π2)2 β
βπ=0
1
(2π + 1)6
= π +π2
60ππ2cos2π
(18)
which has extrema at π = 0, π, Β±arccos 30ππ/π2π2. Mini-
mization of πeff shows that
0 TT/4
β1
1
3T/4
Figure 5: Triangular type force.
(i) the downward point π = 0 is stable if π2
< 3.0396ππ,(ii) vertically upward point π = π is not stable,(iii) the point given by cosπ = 3.0396ππ/π
2 is stable ifπ2
> 3.0396ππ.From (iii), it is observed that, at nontrivial position, theoscillator is stabilized with higher frequency as compared toharmonic force [13].
Hence, this force is less effective than sin- or cos-typeforce. So, this force is replaced by some other periodicpiecewise linear forces.
4.2. Hat Type Force. Now if sine function is traced by linearpulses (see Figure 6), defined by (19)
πΏπ(π‘) =
{{{{{{{{{{{{{{{{{{{{{
{{{{{{{{{{{{{{{{{{{{{
{
1
2if 0 β€ π‘ <
1
6π,
1 if 1
6π β€ π‘ <
1
3π,
1
2if 1
3π β€ π‘ <
1
2π,
β1
2if 1
2π β€ π‘ <
2
3π,
β1 if 2
3π β€ π‘ <
5
6π,
β1
2if 5
6π β€ π‘ < π,
(19)
Next if the sine force is traced by a linear force forming a hat(see Figure 6), defined by (19). For horizontalmodulation, theoscillating force is
π2
(π, π‘) = ππ2 cosπ β πΏ
π(π‘) . (20)
Then, by Fourier expansion in place of (19),
ππ
= 0
ππ
= ππ2 cosπ
1
ππ(1 β cos ππ + 2 cos π
π
3) .
(21)
Using the above coefficients, the oscillating force acting onthe particle is
π2
(π‘) = ππ2 cosπ
Γ
β
βπ=1
1
ππ(1 β cos ππ + 2 cos π
π
3) sin πππ‘,
(22)
4 Journal of Nonlinear Dynamics
0
β1
1
1/2
β1/2
T/6 T/2 T5T/6
Figure 6: Hat type force.
and the effective potential energy is
πeff = π + ππ2cos2π
β 1
4π2
β
βπ=1
1
π2(1 β cos ππ + 2 cos π
π
3)2
πeff = π + 0.2302ππ2π2cos2π
(23)
which has extrema at π = 0, π, Β±arccos 2.172ππ/π2. Here,
(i) the position π = 0 is stable if π2
< 2.172ππ,(ii) the inverse position π = π is not stable,(iii) the position π = arccos 2.172ππ/π
2 is stable if π2
>
2.172ππ.
Again a less effective result is obtained. So this periodicpiecewise linear force is replaced by another one.
4.3. Trapezium Type Force. If the sine force is traced by alinear shape forming a trapezium (see Figure 7), given by (24)
ππ
(π‘) =
{{{{{{{{{{{{{{{{{
{{{{{{{{{{{{{{{{{
{
8π‘
πif 0 β€ π‘ <
π
8,
1 if π
8β€ π‘ <
3π
8,
8
π(
π
2β π‘) if 3π
8β€ π‘ <
5π
8,
β1 if 5π
8β€ π‘ <
7π
8,
8 (π‘ β π)
πif 7π
8β€ π‘ < π,
(24)
with ππ
= 0. For horizontal modulation, the force acting onthe particle is
π2
(π, π‘) = ππ2 cosπ β π
π(π‘, π) . (25)
Then, by Fourier expansion in the place of (24),
ππ
= 0,
ππ
= ππ2 cosπ
16
π21
π2sin π
π
4.
(26)
0 TT/8
β1
1
3T/8 5T/8 7T/8
Figure 7: Trapezium type force.
Using the above coefficients, the oscillating force is
π2
(π, π‘) = ππ2 cosπ
16
π2
Γ
β
βπ=0
1
π2sin π
π
4sin πππ‘,
(27)
and the effective potential energy is
πeff = π + ππ2cos2π β
1
4(
16
π2)2
Γ
β
βπ=0
1
π6sin2ππ
4
= π + 0.3393ππ2cos2π
(28)
which has extrema at π = 0, π, Β±arccos 1.4736ππ/π2. Here,
(i) the point π = 0 is stable if π2
< 1.4736ππ,
(ii) the point π = π is not stable,
(iii) the point given by cosπ = 1.4736ππ/π2 is stable if
π2
> 1.4736ππ.
From (iii), it is observed that, at nontrivial position, theoscillator is stabilized with lower frequency as compared toharmonic force. So this type of force is much effective thansin- or cos-type force. Next, modify this trapezium shapeforce to have a better result.
4.4. Quadratic Type Force. If slopes are removed in thebeginning and at the end from it and define a quadratic typeforce: π
π(π‘) = π
π(π‘ + π) (see Figure 8), given by (29)
ππ(π‘) =
{{{{{{{{
{{{{{{{{
{
1 if 0 β€ π‘ <3π
8,
8
π(
π
2β π‘) if 3π
8β€ π‘ <
5π
8,
β1 if 5π
8β€ π‘ < π,
(29)
Journal of Nonlinear Dynamics 5
0 T
β1
1
3T/8 5T/8
Figure 8: Quadratic type force.
with the same property ππ
= 0. For horizontal modulation,the oscillating force is
π2
(π, π‘) = ππ2 cosπ β π
π(π‘, π) . (30)
The Fourier expansion of (30) is
ππ(π‘) = ππ
2 cosπ
Γ
β
βπ=0
(2
ππ+
8
π2π2sin π
π
4) sin πππ‘,
(31)
and the effective potential energy is
πeff = π + ππ2cos2π
β 1
4
β
βπ=0
1
π2(
2
ππ+
8
π2π2sin π
π
4)2
= π + 0.3856ππ2cos2π
(32)
which has extrema at π = 0, π, Β±arccos 1.2967ππ/π2. Here,
(i) the position π = 0 is stable if π2
< 1.2967ππ,
(ii) the position π = π is not stable,
(iii) the position π = arccos 1.2967ππ/π2 is stable if π
2>
1.2967ππ.
Again the frequency of oscillation is lower at nontrivialposition.
4.5. Rectangular Type Force. Now if we introduce rectangulartype force: π
π(π‘) = π
π(π‘ + π) (see Figure 9), given by (33)
π π(π‘) =
{{
{{
{
1 0 β€ π‘ β€π
2
β1π
2β€ π‘ β€ π
(33)
with the same property π π
= 0. For horizontal modulation,the force acting on the particle is
π (π‘) = ππ2 cosπ β π
π(π‘, π) , (34)
0 T
β1
1
T/2
Figure 9: Rectangular type force.
and its Fourier expansion is
π π(π‘) = ππ
2 cosπ4
π
Γ
β
βπ=0
1
(2π β 1)sin (2π β 1) ππ‘;
(35)
the effective potential energy is
πeff = π + ππ2cos2π
β 1
4(
16
π2)2 β
βπ=0
1
(2π β 1)4
= π + 0.4112ππ2cos2π
(36)
which has extrema at π = 0, π, Β±arccos 1.2159ππ/π2. Here,
(i) the point π = 0 is stable if π2
< 1.2159ππ,
(ii) the point π = π is not stable,
(iii) the point π = arccos 1.2159ππ/π2 is stable if π
2>
1.2159ππ [13, 14].
From (iii), it is observed that, at nontrivial position with thehelp of this type of external force, the frequency of oscillationhas become much lower. At nontrivial position, the aboveresults are summarized in Table 1. From these results, it isalso observed that, as the area under the curve increases, thefrequency of oscillation decreases, at nontrivial position.Thetriangular type force hasminimumarea and so hasmaximumfrequency, while rectangular type force has maximum areaand has minimum frequency.
5. Vertical Modulation
For vertical modulation with harmonic force (see Figure 10),the fast oscillating force is
π2
= ππ2 sinπ β sinππ‘. (37)
Here, the position π = 0 is always stable, and the inversepoint π = π is stable if π
2> 2ππ (see Figure 11) [5].
6 Journal of Nonlinear Dynamics
Table 1: Stability comparison of periodic piecewise linear forces with harmonic force under horizontal fast oscillation.
Force type Trivial position Stability condition Nontrivial position Stability conditionSin 0 π
2< 2ππ Β±arccos 2ππ/π
2π2
> 2ππ
Triangular 0 π2
< 3.0396ππ Β±arccos 3.0396ππ/π2
π2
> 3.0396ππ
Linear (sine) 0 π2
< 2.172ππ Β±arccos 2.172ππ/π2
π2
> 2.172ππ
Trapezium 0 π2
< 1.4736ππ Β±arccos 1.4736ππ/π2
π2
> 1.4736ππ
Quadratic 0 π2
< 1.2967ππ Β±arccos 1.2967ππ/π2
π2
> 1.2967ππ
Rectangular 0 π2
< 1.2159ππ Β±arccos 1.2159ππ/π2
π2
> 1.2159ππ
fβR(t)
0
π
π = 0
l
m
Figure 10: Kapitza pendulum with vertical oscillation.
0
π = π
π = 0
Figure 11: Stable points for vertical oscillation.
Using external periodic piecewise linear forces, (37) takesthe form
π = ππ2 sinπ β π (π‘, π) , (38)
where π (π‘, π) is the external periodic piecewise linear forces.The stability results at π = π are summarized in Table 2.
Table 2: Stability comparison of periodic piecewise linear forceswith harmonic force under vertical fast oscillation.
Force type Position Stabilitycondition Position Stability condition
Sin 0 Always π π2
> 2ππ
Triangular 0 Always π π2
> 3.0396ππ
Linear (sine) 0 Always π π2
> 2.172ππ
Trapezium 0 Always π π2
> 1.4736ππ
Quadratic 0 Always π π2
> 1.2967ππ
Rectangular 0 Always π π2
> 1.2159ππ
0 T
β1
1
T/2
Figure 12: π-Parametric quadratic type force.
6. Parametric Control
All the above results can be considered as nonparametriccontrol. Next, an π-parametric control is defined for one ofthe periodic piecewise linear forces. At nontrivial position,the frequency of oscillation is calculated. This π-parametricforce with 0 < π < 1 is given by (similar to external force(29))
π π(π‘) =
{{{{{
{{{{{
{
1 if 0 β€ π‘ <1 β π
2π,
1
π(β
2
ππ‘ + 1) if 1 β π
2π β€ π‘ <
1 + π
2π,
β1 if 1 + π
2π β€ π‘ < π,
(39)
and illustrated in Figure 12.
Journal of Nonlinear Dynamics 7
The Fourier coefficient π0
= 0 indicates π π
= 0. Forhorizontal modulation, the oscillating force acting on theparticle is
π2
(π, π‘) = ππ2 cosπ β π
π(π‘, π) . (40)
With (39), the Fourier coefficients are
ππ
= 0
ππ
= ππ2 cosπ (
2
(ππ)+
2
ππ2π2sin πππ) ,
(41)
and the oscillating force in fourier expansion is
π2
(π‘) = ππ2 cosπ
Γ
β
βπ=1
(2
(ππ)+
2
ππ2π2sin πππ) sin πππ‘.
(42)
The effective potential energy is
πeff = π + ππ2cos2π
β 1
4π2
β
βπ=1
4
π4(1 +
1
πππsin πππ)
2
= βπππ cosπ + ππ2cos2π β π,
(43)
where
π =1
π2
β
βπ=1
1
π4(1 +
1
πππsin πππ)
2
(44)
which has extremum at π = 0, π, Β±arccos 0.5ππ/π2π.
The stability of the system is discussed under the forcewith different values of π. See Figure 13. First of all considerπ = 0.9; the infinite sum is
π = 0.1320, (45)
and the effective potential energy is
πeff = βπππ cosπ + 0.132ππ2cos2πβ (46)
The nontrivial position Β±arccos (3.7879ππ/π2) is stable under
the condition π2
> 3.7879ππ. This value is larger thanthe above considered examples, such a poor result. Nextfor π = 0.8, the infinite sum is 0.1607, and the nontrivialposition Β±arccos (3.1114ππ/π
2) is stable if π
2> 3.1114ππ,
such a better result. Also, it is found that, as π decreases, theinfinite sum π increases and the system is stabilized with arelatively low frequency. For different values of π, the results ofinfinite sum π and the nontrivial position Β±arccos 0.5ππ/π
2π
with stable condition are given in Table 3.Also as π β 0, the term π β 0.4386, and the position
Β±arccos (1.14ππ/π2) is stable under the conditionπ
2> 1.14ππ
which is lower than with rectangular type force. Hence, withparametric control, the rectangular type force is approached,and the system is stabilized with a relatively low frequency.
0 T
β1
1
T/2
Figure 13: Quadratic type force with different π (0.9 β 0.1).
Table 3: Stability conditions with π-parametric force.
π
0 < π < 1
Sumπ
Nontrivial position Stability condition
0.9 0.1320 Β±arccos (3.7879ππ/π2) π
2> 3.7879ππ
0.8 0.1607 Β±arccos (3.1114ππ/π2) π
2> 3.1114ππ
0.75 0.1775 Β±arccos (2.8169ππ/π2) π
2> 2.8169ππ
0.7 0.1956 Β±arccos (2.5562ππ/π2) π
2> 2.5562ππ
0.6 0.2357 Β±arccos (2.1213ππ/π2) π
2> 2.1213ππ
0.5 0.2793 Β±arccos (1.7902ππ/π2) π
2> 1.7902ππ
0.4 0.3239 Β±arccos (1.5437ππ/π2) π
2> 1.5437ππ
0.3 0.3664 Β±arccos (1.3647ππ/π2) π
2> 1.3647ππ
0.25 0.3856 Β±arccos (1.2967ππ/π2) π
2> 1.2967ππ
0.2 0.4029 Β±arccos (1.241ππ/π2) π
2> 1.241ππ
0.1 0.4287 Β±arccos (1.1663ππ/π2) π
2> 1.1663ππ
Theminimization of dimensionless effective potential energyfunction with horizontal modulation is shown in Figure 14and with vertical modulation is shown in Figure 15.Here, the same effect is also observed; as π decreases, thearea under the curve increases, and the value of π increases;consequently, the frequency of oscillation becomes low atnontrivial position. In this connection, an interesting result isobtained; when π β 0, the quadratic type force approachesthe rectangular type force, so at nontrivial position thefrequency of oscillation should be almost the same, but, withparametric force, the frequency of oscillation is low. Observefrom Table 3, the rectangular force fall between π = 0.2
and π = 0.1, more clearly, the parametric force with π =
0.17 . . ., gives the frequency of oscillation almost equals withrectangular type force, hence comparatively less area showslow frequency at non-trivial position.
7. Conclusions
Using Kapitza method of averaging for an arbitrary periodicforce, the modulated pendulum with periodic piecewiselinear force is stabilized with frequency π that is sufficientlylesser than that in the case of harmonic modulation. Inthis contest, rectangular force was found to be the best. Butthis force is more effective when it has a time-dependent
8 Journal of Nonlinear Dynamics
βπ π0
β1
β0.5
0
0.5
1
π
Ueff/m
gl
(a) πeff is minimum at π = 0 if π2 < 1.14ππ
β1
β0.5
0
0.5
1
βπ π0π
Ueff/m
gl
(b) πeff is minimum at cosπ = 1.2159ππ/π2 if π2 > 1.14ππ
Figure 14: Horizontal oscillation.
βπ π0π
β1
β0.5
0
0.5
1
Ueff/m
gl
(a) πeff is always minimum at π = 0
βπ π0π
β1
β0.5
0
0.5
1
Ueff/m
gl
(b) πeff is minimum at π = π if π2 > 1.14ππ
Figure 15: Vertical oscillation.
structure.This time-dependent structure is found by defininga parametric control on some other periodic piecewise linearforces. Hence, a more suitable form of rectangular force isfound.
The parametric control can be applied to control the non-trivial stable position, for horizontally or verticallymodulatedpendulum.
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