Swinging up and Stabilizing an Inverted Pendulum by Switching Control

In this paper, we consider a swing-up and stabilization problem for an inverted pendulum via switching control. According to our simulation and experiment experience together with the existing literature, we adopt three controller candidates, namely a linear optimal regulator for linear systems, a state dependent Riccati equation (SDRE) based nonlinear controller, and an energy dissipative controller. After analyzing each controller candidate's dynamical feature in this problem, we study how to switch among these controllers incorporating the system's initial value. As a result, we propose a completely new swinging up and stabilizing controller which switches among all the three controller candidates and achieves good performance totally.