Swinging-up and stabilization of the inverted pendulum by energy well and SDRE control

In this paper, we study the swinging-up and stabilization problem of the single inverted pendulum. The concept of energy well function is introduced in order to restrict the displacement and velocity of the cart, which prevents the cart from going outside the limited length. Stabilization is carried out using the State-Dependent Riccati Equation (SDRE) control. The greatest advantage offered by SDRE is the design flexibility. The proposed scheme has worked well in simulation for the swinging-up and stabilization of the single inverted pendulum.