Swing-up control of inverted pendulum using vibrational input

Swing-up of pendulum is a good example for nonlinear control theory. For the pendulum whose control input is vertical acceleration of the suspension pivot, we confront difficulties to derive a control law due to singularity of the system. However, the phenomena of stabilizing the pendulum by sinusoidally vibrating the suspension pivot has been observed. The aim of the paper is to use the above phenomena for swing-up of the pendulum and experimentally show the effectiveness of the proposed control law.