Design of control method to rotate pendulum

In the control of a pendulum, the stabilization at the upright position has been aimed. This paper proposes an angle-based control method to rotate the pendulum and to stabilize the base link. The rotational control system is designed to let the pendulum track the rotation of a reference pendulum. And the stabilization of the base link is designed by the state-dependent Riccati equation (SDRE) based on zero-dynamics of the pendulum. The simulation result shows the effectiveness