Title:Modelling, Simulation and Control of a Heavy Chain SystemAuthor(s):Paul Felix Ludwig, Karl Rieger, Kurt SchlacherAbstract:This contribution deals with the modelling, simulation and control of a particular heavy chain laboratory system which consists of a pivoted disc connected to a chain. First, the Hamilton principle is applied to obtain the governing mathematical equations in form of (nonlinear) partial differential equations (with boundary conditions) and ordinary differential equations. The control law is derived by using the concept of passivity in combination with the backstepping method. Moreover, simulation and measurement results are provided.Booktitle:Computer Aided Systems Theory – EUROCAST 2011ISBN:978-3-642-27578-4Page Reference:637 page(s)Publishing:2012Series:Lecture Notes in Computer Science (LNCS)