Switching control for inverted pendulum system based on energy modification

For stabilizing an inverted pendulum system, a switching control law is proposed. It is based on a modified energy such that the potential energy is minimum in upright position. Paying attention to the transition of the modified energy, the stability of the switching controlled system can be ensured. Simultaneously, the control parameters and the switching conditions for attaining stability are shown. The proposed control law is simple and there is no need for complex calculations for switching.