Study on Swing-up Control of Rotary Inverted Pendulum Based on Energy Feedback

To study the control of the rotary inverted pendulum system, the author in this paper proposed a swing-up method based on energy control. Through analysis the energy of the pendulum rod during the whole swing-up, and introduce the angle of the pendulum as a feedback coefficient to reduce the swing-up time, the author came up with the swing-up control method. Acquire better input with the help of giving different parameters repeatedly using Matlab/Simulink simulation and finish the experimentation finally. The simulation results and the experimental data indicate that the method can drive the pendulum from its hanging-down position to the upright position well. Finally it conclude that this energy method is appropriate for the rotary inverted pendulum system.