Response scenario and non-smooth features in the nonlinear dynamics of an impacting inverted pendulum

In this work, we perform a systematic numerical investigation of the nonlinear dynamics of an inverted pendulum between lateral rebounding barriers. Three different families of considerably variable attractors, periodic, chaotic, and rest positions with subsequent chattering, are found. All of them are investigated in detail, and the response scenario is determined by both bifurcation diagrams and behaviour charts of single attractors, and overall maps. Attention is focused on local and global bifurcations that lead to the attractors-basins metamorphoses. Numerical results show the extreme richness of the dynamical response of the system, which is deemed to be of interest also in view of prospective mechanical applications.