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This paper is dedicated to investigation of the elastic inverted pendulum with hysteretic nonlinearity in the suspension point. We consider the problem of stabilization and optimal control of such a system. In the frame of the bionic model we present an algorithm which provides an effective procedure for finding of optimal control parameters together with application of this algorithm to the system under consideration. The results of numerical simulations, namely, the phase portraits and the dynamics of Lyapunov function are presented and discussed.

ELASTIC INVERTED PENDULUM UNDER HYSTERETIC NONLINEARITY IN SUSPENSION: STABILIZATION AND OPTIMAL CONTROL