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Swing-up control of an inverted pendulum by energy-based methods

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1 Author(s)
Yoshida, K. ; Dept. of Electron. & Control Syst. Eng., Shimane Univ., Matsue, Japan

The mechanical energy of a pendulum whose pivot can move horizontally can be controlled according to signs of the pivot acceleration values. A servo design technique is proposed which can control the pivot acceleration considering a limited travel of the pivot. This control law is applied to the swing-up control problem for an inverted pendulum

Published in:

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

Date of Conference:

1999