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\title{}



\author[1]{Andres Garcia}%
\author[2]{Andrés García}%
\author[2]{Exequiel Leonhardt}%
\author[2,3]{Franco Dotti}%
\author[2]{Carlos Vera}%
\affil[1]{Affiliation not available}%
\affil[2]{Universidad Tecnológica Nacional, Facultad Regional Bahía Blanca (GIMAP)}%
\affil[3]{Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET)}%


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  \date{May 20, 2024}


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\begin{abstract}
Sea waves represents a very promising energy source. Pioneered by
Wiercigroch a pendulum system would be feasible for such an energy
harvesting purpose. These devices consist of a pendulum with a vertical
motion induced by the sea waves. As it is well known, pendulum's stable
rotations generate enough energy able to be extracted by an electrical
generator attached to its axis. In this paper, using a brushless dc
motor as an input torque u(t) to maintain stable pendulum rotations, a
singular optimal control formalism provides a very simple control law
using a mechanical model.

Besides the main objective in this paper: stable controlled rotations,
in order to control every motion possibility: rotation, stability or
even chaos, a singular optimal control policy is defined

A salient property of the the resulting control law lies on its very
simple hardware~ implementation bang-bang control: only sign is needed
using Arduino and operational amplifiers (see Figure 1). While
Matlab/Simulink simulations will be presented, the possibility of being
tuned for stable/unstable rotations or even asymptotic stability is also
an interesting analysis. Conclusions and future work are also depicted.%
\end{abstract}%



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