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Swinging up of non-affine in control pendulum

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4 Author(s)
Shiriaev, A.S. ; Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway ; Ludvigsen, H. ; Egeland, O. ; Fradkov, A.L.

The problems of global stabilization of any prescribed energy level of the pendulum and the upright unstable equilibrium point of the pendulum are solved. The proposed stabilizing algorithm for the upright equilibrium position is based on a VSS-like modification of the energy-speed-gradient method. The qualitative description of the transient behaviour of the closed loop system is obtained

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American Control Conference, 1999. Proceedings of the 1999  (Volume:6 )

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