• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1579-1589
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• 2013

We provide a step-by-step, easy-to-follow procedure for the method of controlled Lagrangian systems. We apply this procedure to solve the energy shaping problem for four benchmark examples: the inertial wheel pendulum, an inverted pendulum on a cart, the system of ball and beam and the Furuta pendulum.

• Journal of the Korean Operations Research and Management Science Society
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• v.23 no.2
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• pp.47-65
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• 1998

We consider a multiperiod capacity planning problem for determining a mix of flexible and dedicated capacities under budget restriction. These capacities are controlled by purchasing flexible machines and/or new dedicated machines and disposing old dedicated machines. Acquisition and replacement schedules are determined and operations are assigned to the flexible or dedicated machines for the objective of minimizing the sum of discounted costs of acquisition and operation of flexible machines, new dedicated machines, and old dedicated machines. In this research, the Problem is formulated as a mixed integer linear Program and solved by a Lagrangian relaxation approach. A subgradient optimization method is employed to obtain lower bounds and a multiplier adjustment method is devised to improve the bounds. We develop a linear programming based Lagrangian heuristic algorithm to find a good feasible solution of the original problem. Results of tests on randomly generated test problems show that the algorithm gives relatively good solutions in a reasonable amount of computation time.