Effect of a novel control input on swing up of a pendubot

This paper proposes a novel control input for swing up of a pendubot. The input is derived from the proposed control Hamiltonian function. The input so derived is capable of swinging link 1 to the upright position with an added error of +1 radians to the desired angular position. Additionally, the control input sets the system to different equilibrium manifolds depending on the selected parameter values. The efficacy of this approach is demonstrated through simulation results.