6 5 6/7 2: 3 45/ 0 .+6 ,6 7 4 2 -.

/ 0 * 1& '( ) * + ,
TORA &

*
3 4 5 4 5 6 7 8- ./ 0 1 2 - 6+ 7 /1 9
3 4 5 4 5 6 7 8- ./ 0 1 2 5 0 5 9 :- )16 ;4+ <7 1
3

=
50

3 / = ? B@ / 3 / 4 B 2F . 4 = ? CA D /4 B ;A ? 9 @> 0 4 9 0 9 6 ; / < =
3 K I J 1L L 9 < = . : @> 0 0 = 9 / H I J @ 2 G CA D
. 5 4/9 QN 7 / 3 L = 2 M / > 0 NO 6 5 P ) . 0 5 P @> 0 = 9 /
4

M / 94 : 3 K I J / < 94 0 1/ 4 S0 / / . / C7 R 2 0 M > 0 3 K I J
W;0 R 2T ) / 3 V SC 5 I J 94 : H 4 S 0 / TU0 . 5 A = ? 4 B CA D 94 0
44-37 !"# 1399

I J > 0 I 9 @ [ \ 94 0 M / < H 3 K 5 P )Z[ W;0 0 / 1 2 X Y 0 0 )Z[

. @ 3- ;A ? 9 @> 0 4 ^ = R < 94 0 9 1- TORA > 0 9 / 94 0 5 ] . 5
. > 0 R < H = ?> 0 4 B > 0 :* 2 * 1 >+(

Robust Stabilization of Non-Minimum Phase Nonlinear Systems with Non-Affine

Internal Dynamics: Application on TORA System

Department of Electrical and Electronic Engineering, Shiraz University of Technology,

T. Binazadeh Shiraz, Iran
Department of Electrical and Electronic Engineering, Shiraz University of Technology,
N. Bazrafshan Dehghan Shiraz, Iran

Abstract
This article studies a class of non-minimum phase nonlinear systems with non-affine internal dynamics. The non-minimum phase
feature, along with the non-affine internal dynamic, makes complexities in the process of controller design for this class of systems.
In this paper, a new approach is presented for designing the control law for these systems. In the proposed method, the system’s
equations, considering the system’s relative degree, are rewritten in the normal form. The design procedure of the control law, in the
considered system, has three main steps. First, using the constraint optimization approach, the virtual control law is designed to
stabilize the non-minimum phase and non-affine internal dynamics. Then, by designed virtual controller and combination with
backstepping method, the proper sliding surface is extracted and, finally, based on the proposed sliding surface, a robust control law
is designed to stabilize all of the system’s state variables. The simulation results on the TORA system show the efficiency of the
proposed approach in the robust stabilization of this class of nonlinear systems.
Keywords: Non-minimum phase system, Non-affine system, robust control, TORA system.

. / R [16] 1/ > M [15] / 9 Cj

) -1
- ? 9 / NO 6 8 / @> 0 4 A /
>1 _I 4 ;A ? 9 @> 0 R < 94 0
- = ? 9 @> 0 @> 0 4 0 = 5/ ;A
9 3 /9 / \ / B@ = .[1-3] 5 / H >CQ
= i 9 / H I J [17] kL .[19-17]
-> 0 \ K 4 9 @> 0 4 9 / 0 R <
O i lQ 9 @ 5 / < ; H DB / B 0
4 >B ? 9 @> 0 [5 6] A > 0 [ 4] @9@
9 / H I J @> 0 = 3 4 . 0 * N 7
@- ? [9] 9 A 9 @ > 0 [8] = 9 @ > 0 [7]
- 9 - / 2 G 9 = ? CA D / 9 @> 0
B 9 @> 0 ;A ? 9 @ > 0 4 B1 9 0 . 5
/ @> 04 9 0 / 9 Cj \I / [18] kL 5/
S7 D 4 B 9 @> 0 .[11-10] 5 / 4
3i = ? 9@ > 0 .4 = ? CA D
9@ / 9 6 NO < .[12 13] : > 0
9 @) 6 0 ;A ? 9 / > 0 NO 6
@> 0 4 0 = 9 / H I J _e/ / fC Y
/ m / H @> 0 = /
/ g BQ @> 0 = 9 / H I J . A
\n 9 Q 9 @) - / * . 0 B = 9 @> 0
9 / H I J 9 @) 4 .[11] 0 L @h i
9 B5 @ 9 @ lQ 9 5 94 9 @
9 @> 0 9 / 2 5Z[ /3 @> 0 =
.[17 20 21] 5 / @> 0 = 9 / H I J
1L 2 / H [14] @
C Ce 9 @ 4 L NO < 4 B 6
*
binazadeh@sutech.ac.ir : 1

97/12/06 : !
98/09/25 :) * !
  φ1( x )  [20] kL . / 1/ = ? 9 @> 0 9 /
 M 
  - > 0 4 9 0 9 / 5Z[ M 9 / L 9

0 R < 94 0
 φn−ρ ( x ) 
 η    [21] kL . 0 5 P 9 CBL i A 0 9 = ? 9@
−−− = Z =T x =  −−− 
  ( )  h( x )  (2 ) K 6; (= - 0 3 / ) CBQ = ? > 0D
 ξ    R < 9@ 4 3 I9@ @ \ 59 / 0

;A ? 9 @>
 L h( x ) 
 f
 * kL B . 0 B S0 q /
 M 
ρ −
 Lf h( x ) 
1 > 0 C7 9 / > 0 ;A ? 8 / 4 5 = ?
∂φi . 0
g ( x ) = 0 , i = 1,..., n − ρ . (3 )

B
∂x 4 B ;A ? 9 @> 0 4 9 0 r I <

...
4 9 Q N 7 / (1) > 0 NO 6 * = +( ) 58
94 : 9 / @3 CA D 0 5 2 M
: @ A\
CA D 2F = 3 i 5/ = ? 35 A
η& = f a ( η ,ξ )
L 9 -/ 2 G / I J 5 @s > 0
ξ& = Ac ξ + Bc γ ( x ) ( u + δ ( t, x ) − α ( x ) ) (4 ) 1L L 9 9 P / / = 9 / rI < . 40
y = Cc ξ = ? CA D /4 B 9 @ > 0 R < 94 0
: @ 4 R / ,- .- /- 3 94 0 1/ 9 @ M V SC / 9 1 - ) . 0 A
0 1 0 0  0 I J 9e / R < H 5Z[ R 2T <
M 0 O M  M 
Ac =   , Bc =   L >? CQ > 0 t C; CBQ / : 0 2
0 M O 1  0
    (5 ) L 0 / / M = 9 /. 23 = ? 4 B
0 0 L 0  1 
D 9 Q A 0 > 0 NO 6 4/ /> 0
Cc = [1 0 … 0] CA D = ? N 7 2 X Y 0 3 CA
:> = GB@ / CA D 94 : 9 TU0 . 5 uY-
 η1   ξ1  K 2 I J 9 e / < 94 0 1/ 0
η  ξ 
 2   2 I J 94 : 9 / ;A ? 8 / \ / C Be
η=  M , ξ =  M  ( 6) 1/ V SC / CA D 94 0 4 T . 2 H BQ 3
   
 ηn − ρ  ξ ρ  9 X Y 0 m0 )Z[ W;0 R 2T < 94 0
   
5Z[ 0 / 3 K I J /> 0\ R <
γ ( x ) = Lg L f h ( x )
ρ −1
(7 )
= 3 / 9 / 3 3- M / 1 . 0 2 \7 I
Lf ρh ( x)
α ( x) = − (8 ) > 0= . 0 5 2 M TORA CBQ > 0 )
Lg L f ρ−1h ( x )
/ I J . 5/ = ? 4 B CA D 9
I / z = ηT ,ξT T (4) 9 Q N 7 / > 0
  CBQ 94 0 5 ] 0 5 3 / > 0 3 9 / N PZL
D I 9@ [ m / ξ ⊂ Rρ η ⊂ Rn−ρ . 0 . @ 3 - > 0 t C;
. 5 / (4) H > 0 L A D CA
NO 6 CA D NO 6 = η& = f a (η ,ξ ) NO 6
@ ) 3,+ 6 A/- @ -2
L A D 8 / ξ& = Ac ξ + Bc γ ( x ) ( u + δ ( t,x ) − α ( x ) ) : 8/ M 4 L A D _9 D > 0
/ ξ = 0 9 4 / CA D NO 6 = GB@ . 0 > 0 x& = f ( x ) + g ( x ) (u + δ (t, x ) )
( 1)
. 5 : ( η& = f a (η , 0 ) 6 ) > 0 S7 D NO 6 y = h (x )

H / (4 ) > 0 5 / : > 0 S7 D 2 L A ∈ 9 ∈ I / ∈ ⊆ 3
5 t e 4 B ;A ? > 0 D (1) > 0 3 6/ ℎ: → : ⟶ : ⟶ = GB@ . 0 > 0
4 B 9 @> 0 9 / 4 0 = K n .[12] R Q 4 5 δ (t, x ) R C6 k/ @ B@ 94 /
. 9 0 I J A0 5 P . 0 L A N 5 - ? H 9 @ 6;K
;A ? > 0 5 : > 0 S7 D 2 . 0 (< ) / / / > 0 L 5 v
= 9 / H I J / @ A 4 B D 9 I / VC6 9 w 5 @ 94 / I =
4 A/ 0 L @ 2 G @h i / @> 0 B@ k/ 9 4 / (2) 5 8 3 L 8 B@
H I J 9 @ ) 4 A / . 0 5 A 3 / kL V - D / D ) Diffeomorfism \ D ( ) , … , "# ( )
> 0 CA D A 0 5Z[ R 2T ) / (3) x/ / $
( ); & = 1 … − k/ 0 ( *
5 v 4N 7 /= A0 / ξ 9 / :[12]
:[12] ;A A 0 ξ /

38
4 / @J min ( J )  η& = f 0 (η ) − g 0 (η ) Kη η& = f 0 ( η ) + g 0 ( η ) ξ (9)
s.t. 
 Kη ≤ γ0 (15) CA D /@> 0 9 / H I J
∞
J =  ( η (t)Qη(t) + η (t)K RKη(t) )dt
T T T CA D A0 rI < . 0 0. A0 /
0

m0 t Y / @=6 n 9@T : 5 v 4 N 7 / (4) ;A ? > 0

@

R Q
η& = f 0 ( η ) + g 0 ( η ) h0 (ξ1 ) (10)
3 <@ 3 - */

1/ 9 Cj . 5 \7 I *2 !0 t C; 9 @ lY- 1
- 9@ > 8 | 9 Q 9 @ ) DB / < 94 0 A 0 : _Q / 0 ;A ? k/ D h0 (ξ 1 ) 3
\/ K MATLAB Z R 4 S 0 / D } pso M 9 / . 0 5 ξ1 9 / (4) > 0 CA D = ?
) > 0 NO 6 = 2 M / 5/ \I 0 * 6 0 ;A ? k/ D h0 (ξ 1 ) k/ :1 B/4
( J ) Z@ k/ ( Kη ≤ γ0 ) Cj K ( η& = f 0 ( η ) − g 0 ( η ) Kη : Q /. 5/ e k/ = = GB@
. 5 X Y 0 2 1/ B \I Cj h0 ( ξ1 ) ≤ γ0 (11)
e / Z@ k/ 1 /9 6 ; V / L / :1 . 0 n / y D 01
9 9 6 / 5 8B@ S7 / η 8 J 3 ;A ? > 0 94 0 rI < z ; 9 Cj
4 S0 /3 mC; = . 5 / (14) D : ( η& > 0 4 6 ) 3 CA D 0 (12) 4 B
n T P 3 3 - V1( η ) = ηT Pη q k/ . 5/ = ? ) 94 : 9 /
94 / Acl T P + PAcl = − Q1 6 \I 4 0 < =6 η& = f 0 (η ) + g 0 (η ) h0 (ξ 1 )
D A = ∂F = GB@ . 5 \7 I Q1 = 6 n T ξ& = ξ
1 2
∂η
cl
η =0 M
. 0 Z @T ξ&ρ −1 = ξ ρ (12)

ξ&ρ = γ ( x ) u + δ (t, x ) − α ( x ) 

GHI@ J- D+/9 -2-3 y = Ccξ
9e / N ρ (η ,ξ ) k/ / )Z[ W;0 I J
ξ ρ = N ρ (η ,ξ ) 9 4 / (16) NO 6 2 I J @ CD 6/ ,( -3
D s = ξ ρ − N ρ (η ,ξ ) )Z[ W;0 N l . 5 : I J / / rI < 3 K I J 9 /
NO 6 . B / q @ / m0 W;0 V SC / TU0 5 A CA D 40 3 K
)Z[ W;0 9 / I NO 6 ξ ρ = N ρ (η ,ξ ) 9 4 / (16) - I J m0 )Z[ W;0 R 2T ) / 3 4 \7 I :
94 : 9 m0 I J / NO 6 = / @ A s=0 > 0 I9@ [ \ R < 3 K 1 . 2
. @ : ξ ρ = N ρ (η ,ξ ) / = . 5 \7 I 5 3 0 / (12)
η& = f 0 ( η ) + g 0 ( η ) h0 ( ξ1 ) . 0 5 z 5 N PZL
ξ& = ξ
1 2
(16)
M .+6 ,6 + , E F D+/9 -1-3
ξ&ρ −1 = ξ ρ . 8/ M (10) 6 CA D 94 0 1L
94 : 9 I J 1L hY/ = S0 85 : 5 I J h0 (ξ 1 ) k/ 9 / 4 A 0 Cj \I 9 /
R2 i 9 0 R 2T ) 0 / ξ ρ = N ρ (η ,ξ )
h0 ( ξ1 ) = − Kη (13)
. 5 5 3 / 0
2M (16) NO 6 4 6 = R2= :K(+ ' L / : 5 I J9 2 / / 2 9 1/ H I
6 R 2 = 94 : 9 I J R 2 = \lI . 5 . 5 (14) NO 6 :
(V 1( η ) = ηT Pη ) 3 J/ q k/ h0 ( ξ1 ) = − Kη
η& = f 0 ( η ) − g 0 ( η ) Kη = F ( η ) (14)
< 94 0 1/ ) 0 / = \ K hY/ 0
. * N 7 ;/ 5 P K 5{e 2 I J / 9
9e / 5 @ A L W1 ( η ) = 6 n k/ D * 9 >@ 9 / . 0 h0 (ξ 1 ) k/ 9 / (11)
∂V 1 (η ) 4 < = 5 V<e (11) ;/ >@ (14) NO 6 :
\7 I V& 1 (η ) =
∂η
( f 0 (η ) - g 0 (η ) K η ) ≤ −W 1( η ) ;/
/. 0 5 S 0 2 1/ I J 1L < 94 0 1/ )
. 5
1/ 2 t Y 9 e / 2 1/ ) = 0
6 (16) NO 6 4 H 6 R R2 :'(6 ' L
: 5 V<e 4 < 94 0
9 I J q @ 2 K I J 9 4 NO 6
NO 6 : 94 0 M / ξ2 6 R 2 = 94 :

39
:> *. 2 I J 3 K 0 / )Z[ W;0 . 0 (17)
s& = ξ&ρ − N& ρ (η , ξ ) η& = f 0 ( η ) + g 0 ( η ) h0 ( ξ1 )

0 R < 94 0
 (17)
= γ ( x ) u + δ (t, x ) − α ( x )  − N& ρ ξ&1 = ξ 2

4 (18) NO 6 z 2 = h0 ( ξ1 ) − (− K η ) [ ~ 6 /
= γ ( x ) u − α ( x ) + δ (t, x ) − N& ,
1 1 ρ
(24)

;A ? 9 @>
. 5 \7 I (17) NO 6
α1 ( x ) = γ ( x ) α ( x )
η& = f 0 (η ) − g 0 (η ) K η + g 0 (η ) z 2
δ 1 (t, x ) = γ ( x ) δ (t, x ) . 

 z& = h& (ξ ) + K η& = ∂h0 (ξ1 ) ξ + K η& (18)
: 2 I J 4 N l/ 3 K3  2 0 1
∂ξ1
2

B
α 1 ( x ) + N& ρ  = υ 2

...
u= +v (25)
γ (x ) :. > 09 / 4q k/ t Y /HI
: @ : (24)9 6 (25) N Q 9 *8 L V 2 (η , ξ1 ) =V 1 (η ) + 0.5(h0 (ξ1 ) + K η ) 2

s& = δ 1 (t, x ) + γ ( x )v (26) (19)

=V 1 (η ) + 0.5z 22
:> = GB@
:> (18) NO 6 9 0 3 4 9 2V-
δ 1 (t, x )
≤ ρ (x ) ∂V 1 (η )
γ (x ) V& 2 (η , ξ1 ) ≤
∂η
( f (η ) - g (η ) K η )
0 0
(27)
ρ (x ) ≥ 0
∂V 1 (η )
γ (x ) ≥ γ 2 ≥ 0 +
∂η
( g (η ) z ) + z υ
0 2 2 2 (20)
<=
3 4 9 2 V - / ;(6) = = N 7 / q k/ t Y / ∂V 1 (η )
≤ −W 1 (η ) + g 0 (η ) z 2 + z 2υ2
:> (26) D 9 0 ∂η
V ( s ) = ss& = s (δ 1 (t ,x ) + γ ( x )v )
& (28)
: 2 I J 4 N 7 / υ2 . 6 0 /= / /
: 2 I J 4N 7 /v R HI ∂V ( η )
υ2 = − 1 g 0 (η ) − k 1z 2 , k 1 > 0 (21)
v = −β ( x ) sgn ( s ) , ∂η
(29)
β (x ) ≥ ρ (x ) + β 0 ;/ 9 K/ / : (20) . N Q 9 *8 L
(29) 9 *8 L / . 0 Di / y D β0 3
n (18) NO 6 : 9 5 V& 2 ≤ −W1( η ) − k1 z 2
2

: 5 : 4 N Q (27) = 2 M (28) M / HI . / y (21) N Q 5 P υ2 9 4 /

V& ( s ) ≤ −sγβ ( x ) sgn ( s ) + γρ ( x ) s 5 I J ;/ (18) N Q R 6 0 B0 = 2
≤ ( − ρ ( x ) − β 0 + ρ ( x ))γ s (30) N 7 / ξ2 6 R R 2 94 : 9 (21) N Q υ2 9 /
≤ −γ 2 β 0 s : 0 / 4
−1
9 4 / (23)
0 = 0= >1 e 3 4 / 0 3 K = / /  ∂h0 (ξ1 ) 
W;0 9 / x 5 | 5 2 HI . 0 2 K/
ξ2 =   (υ2 − K&η ) = N 2 (η ,ξ1 ) (22)
 ∂ξ1 
0 l I 5/ 5 K 6(0) = 0 )Z[ 9 I J / : R 0 R2 /- :/.5 ' L
3 K 9 K/ H I . 0 6(0) > 0 0 6(0) < 0 I J / : A R2 1 ξ3 = N 3 (η ,ξ1 ,ξ 2 ) 94 :
9 / 5 6@ ≤ −0 / : 6(0) > 0 9 / 66@ ≤ −0 |6| / 0 . 2 ξ ρ = N ρ (η ,ξ ) 94 : 9
4 9 2H 8 / @ . 5 6@ ≥ 0 / : R I
3 4 6(9) 5 \7 I : = t 0 4 x/ = J
|D(1)|
2 K/ 2 D+/9 -3-3
. 0 9: ≤ S7 3 4 6/ 5 S7 9: e
E H 9 5Z[ 4 S0 /u 3 K I J
3 K9 K/ * 0 6(9) = 0, ∀9 ≥ 9G 8 N Q /
2 K/ 4w5 5 I J9 2 / / 3 K
e 3 4 5 I J 3 K = B• / 0
:[22 12]
. 0 A 0 V<e / 0 4 3 /
ss& ≤ −γ 1 s (23)
\BQ 0 2 (29) 3 K :2
5 / 0 3 Kw 5= . 0 n /yD 0
u< 4 5 = . 5> 0 • i : _Q /
| 5 )Z[ W;0 4 X A 4 @ RB = B•
3 = q*I 9 / . 5 / 3 A 4‚ 0
W;0 / 9: e 3 4 ( 0 6(0) ≠ 0 Q /) 5
m 5 / sat k/ 4 : . S 0 sgn k/ 0 m < 4
A / . B € 3 8 0 6 = 0 )Z[
:> * . 5 S 0 1/ ε 4
I J s = ξ ρ − N ρ (η ,ξ ) m0 )Z[ W;0 N ρ (η ,ξ ) = 5
s 
v = − β ( x ) sat   (31) . 2
ε 
NO 6 4 9 2 V - / )Z[ W;0 D =5 /

40
4 / @J :[19] 0 4 N 7 / > 0= I 9 • NO 6 : 9e /
x&1 = x 3  sgn ( s )
 s ≥ε
x& 2 = x 4 s  
sat  = (32)
x& 3 = {[( m + M )(u + d(t) ) − mL (cosx 1 ) ε   s
s ≤ε
@

 ε
( mLx 32sinx 1 − kx 2 )] / Δ ( x 1 )}
3 <@ 3 - */

: 5 > @ A (30) 6 . N Q 9 *8 L /
x& 4 = {[( I + mL 2 )( mLx 3 2sinx 1 − kx 2 ) (35)
  s 
ss& = s  δ (t ,x ) − γ ( x ) β ( x ) sat    (33)
  ε 
− mL (u + d(t) ) cosx 1 ] / Δ ( x 1 )}
: | 5 k/ 4 5 ƒf 6 0 / |6| ≥ L I
y = x 1,
: 2 \7 I 4
Δ ( x 1 ) = ( I + mL 2 ) ( m + M ) − m 2 L 2cos 2 x 1
ss& ≤ −γ 1 s for s ≥ ε (34)
R LZ < 6K = 9 2 hA i 4 . NO 6
4 9@ = B• . N Q I=
R „ L Z„„ H „ < Q „ 0 P 9 „2 9 „ 4 Q „ 0 O 9 „2
3 0 )Z[ W;0 q J e D / e 3 4
„5 / „ > 0 5 - ? 9 d(t) 9 2 / BQ -2
= . 0 |6(9)| ≤ L e 3 K/ e
. „0 „5 v „ 5 - ? >I Z -2 D N 7 / :
3- R 1S = 1 \ 5 . 0 R 0 94 O / e
„ 4 „/ \„/ K (1) > „ 0 „ 6 m K (35) > 0 NO 6
. @
:3 @
 x3 
 x4 
 1
x  
x    −mL (cosx ) × ( mLx 2sinx − kx )  
 2 
x =  2  , f (x ) =  ,
1 3 1

x 3   ∆(x 1 ) 
   
x
 4  ( I + mL )( mLx 3 sinx 1 − kx 2 )  
2 2

   
 ∆(x 1 ) 
 0 
 0 
 
 (m + M ) 
g (x ) =   , δ (t, x ) = d (t )
 ∆(x 1 )  */ ,M -1 C
 −mLcosx 
 1

 ∆ ( x 1 ) 
4 9 2 V- / > 0 L / / 0 = 5 S 0 sgn k/ I /. IN S
: 0 / L A 3 0 94 O / e 3 4 > 0 4 9@
y = x1 . 0 |6(9)| ≤ L )Z[ 4 *
y& = x 3
(36)
( m + M ) u − mL (cosx 1 ) × ( mLx 3 2 sinx 1 − kx 2 ) 
y&& =   *6/7 2 K N -4
∆ (x 1 )
9 1- ) 0 / H I J / hY/ =
N 7 / +( ) 58 5/ =2 > 0 L *
- A ( 8CBQ / < 4 0 3 0 ) TORA > 0 9 /
: 5 t Y (37)
CA D /4 B ;A ? > 0 D > 0 = . 5
 φ1 ( x )  η 1  0 MRL /9 2D \ 53 A0 0 = ?
 
φ2 ( x )  η 2  0 \7 k / y / ;A D x0 /ytKD /
z =T (x ) =  =  (37)
 h ( x )  ξ1  / m R L / 9 2 D = GB@ . 0 < I / 4: 1
   
 L f h ( x )  ξ 2  . 0 5 h B 2\ 5 R L Z 4 L C7
9 / . 0 R= = ST ℎ( ) = O R = ℎ( ) = 3
= \I 4 : 5 \I (3) NO 6 / U= = = U = =
: 0 / 4 N 7 / U= U NO 6
Lsinx 1
η1 = x 2 + ,
m +M
(38)
mLx 3cosx 1
η2 = x 4 + .
m +M
\7 I 4 N 7 / 9 Q N 7 (35) > 0 NO 6
: 5 .TORA & . -2 C

41
 Z/ 6L V J 4 k2 k1 < v = 9 4 / . 5v η&1 = η 2

k1 = 0.1969 N 7 / Simulink !0 94 0 1/ k  mLsinξ 1 

MATLAB η&2 = − η1 

0 R < 94 0

m +M  m +M 
(40) NO 6 = 2 M /. 0 / k 2 = 0.2105
ξ&1 = ξ 2
K / m I / ,-V T CA / <CI D (43)
1 (39)
: 5 \7 I 4 N 7 / ξ&2 = {( m + M )(u + d(t) ) − mL (cosξ 1 )

;A ? 9 @>
Δ (ξ 1 )
0 1  0 
 η&1     η1  −  k  (k η + k η )   mLsinξ 1  
 η&  =  − k    mL  ×  mLξ 2 2sinξ 1 − k  η1 −
0  η 2      }
m + M  
1 1 2 2
 2  
m +M  
 m + M  m + M  

B
 0 1  (45) y = ξ1
=  − k   η1 

...
kk 1  mL  kk 2  mL     : 0 4 N 7 / CA D
−
m +M m +M m +M  −    η 2 
   m + M  m + M 
η 
= Acl η η& =  1  = f a (η,ξ )
η 2 
D : 94 0 * 0 Z @ Acl T
 η2 
t C; 1/ H lI / H I . 0 2 V<e CA
= k  mLsinξ 

 1
− η1  
/ ξ2 = N (η , ξ1 ) 94 : 9 6/ R 2 K = [k 1 k 2 ] 
 m + M  m + M   (40)
2

/ N (η , ξ1 ) 0 e 4 T . 2 0 e (22) ;/ 0  η2   0 
2
= k + k 

  sinξ 1
N 7 )Z[ W;0 0 > 0 L / L mL
=2  ( −η1 )   m + M  
R < H 3 K 1 . 59 I J s = ξ2 − N (η , ξ1 ) m + M    m + M 
= f 0 (η ) + g 0 (η ) h0 (ξ 1 )
2

. 5 \7 I (29) (25) x/ 0 /
„„K / h0 (ξ 1 ) ≤ 1 „„e „„/ h0(ξ1 ) = sin ξ1 3
„ 3 „- „CA D„ = ? A0. 6 . 5/
* P Q, -5
> „ 0 S„7 D . 6 ξ1 = 0 = 2 M /. @
9 /. 2 S P @ 94 0 5 ] B K=
: 5 \7 I 4 N 7 /
: 0 5 2 M 4 < 94 0 5
 η&1 
M = 1.3608kg , m = 0.096kg , L = 0.0592m  &  = f a (η , 0 )
N η 2 
I = 0.09 kgm 2 , k = 186.3 . ε = 0.01 0 1
  η1  = A η (41)
m =  −k  
 0  η 2 
d (t ) = sin(t), k 1 = 0.1969 , k 2 = 0.2105, k 1 = 10 14
m4+ 244
M 3
A

3 \ „5 . „ @ 3 - 94 0 5 ] 10 3 9 @\ 5 T F < > 0 S7 D 9 \ Ce 1L
S„7 „/ „e 3 „ 4 „ 0 )Z[ W;0 4 !0 8 B . 2 0 e 3 lY- 6 0 /A
3- 9 H 80 4 !0 4 \ 5 . 0 5 8B@ λ −1
k
λI − A = k = λ2 + =0
8 „ 5 9 „@ \ „5 > „ 0 I 9 @ [ 4 !0 . @ λ m+M
m+M (42)
„ H„ „5 „ @ „- „ ; B@ . 0 5 3-
k
/> 0 I9@ [ RB : 9 / : 5 I J  λ1,2 = ± j
m+M
. „0 „5 d (t ) = sin(t ) „5 - ? H 8 0 •I R < J -F < 9 A T 0 3 = . N Q
@ „- „ ; „B@ . @ 3 - h0 (ξ1 ) 4 !0 9 \ 5 4 B > 0D 9 @ 3- 0 @ e 9 9
„ † 94 0 5] . 0 5 V<e h0 (ξ 1 ) ≤ 1 K 5 / : 9 S < <I < / F < 1 4… 0
„/ CBQ > 0 D R < H 9 1 - ) t C; CBQ „/ „ . „ @ „ „: > 03 /4 B 3 H
5 P ) 9 / 0 5 ƒ 9 @ 2F : 2 I J 4 N 7 / h0 ( ξ1 )
D„ /4 B ;A ? 9 @ > 0 R < 94 0 h 0 (ξ 1 ) = sinξ 1 = − Kη
η 
. @ 3 - = ? CA = − [k 1 k 2 ] 1  (43)
η 2 
= − k 1η1 + k 2η 2
k/ 9 2 / 5/ K 1/ 9 1/ I J q @ H I
2 \K I ρi 4 9 @ > M 9 4 / (44) 9 Z@
. 5 K / − Kη ≤ 1 K = GB@
∞
J =  ( ρ 1η12 + ρ 2η 2 2 + ρ 3 ( k 1η1 + k 2η 2 ) )dt (44)
2
0

9 Z@ k/ = 2 M / < 94 0 1/ 9 Cj = 4
D p3 p1 , p2 m r < M = 9 /. 5 \I (44)

42
4 / @J
@
3 <@ 3 - */

h 0 (ξ 1 ) V7 W R -9C
GHI@ J- R -3 C

*/ L -6
/4 B ;A ? 9 @> 0 94 0 / < =
B \ - k M /. 5 A = ? CA D
- 1/ 4 > 0 CA D 3 /= ? 3 /4
94 0 1/ V SC / = GB@ . 2 S 0 < 94 0
@/ 2 *6( ( R –4 C
H 5 I J m0 )Z[ W;0 R 2T ) <
D 9 / 9 1 - ) . 2 \7 I 3 9 / 5Z[
94 0 5 ( 8CBQ / < 4 0 ) 1i 4 > 0
3 - 9 1 - ) t C; CBQ 94 0 5 ] 2
.

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