Oscillator-based yoyo control: implementation and comparison with model-based control

Abstract

The capabilities of an oscillator-based controller are compared with that of a model-based controller for stabilizing a yoyo in this paper. It is shown that the oscillator-based controller can operate with a once per cycle feedback, while the model-based controller requires high-rate state feedback. However, a consequence upon the oscillator-based control with low-rate feedback is a smaller stability regime in its parameter space. Hence it may be necessary to use the model-based controller with high-freq feedback to stabilize the system initially. Once the system is stabilized, it is possible to switch to the oscillator-based controller, which can keep the system stable against minor disturbances even with low-rate feedback. This is demonstrated in the context of yoyo-control, which is periodic and open-loop unstable