Motion Control of a Pendulum via Magnetic Interaction

The present study introduces a modified version of PD control for the case of a magnetically controlled pendulum. The response was observed in both experiments and numerical simulations taking into consideration the non-linearity posed by the system. The modified PD controller was compared to the standard counterpart for further concrete justification of its superiority. The results attained highlight the benefits of the modified PD control in all facets of control performance, namely, the efficiency, the accuracy of the representation of the interaction, the sensitivity on alterations of the control gains, as well as the prediction of the experimental response by the numerical simulation. Thus, the control method proposed can serve as a promising foundation for the further development of a non-contact position control technique for offshore wind turbine installation purposes.