One-Swing Stabilizer of the Inverted Pendulum on a cart

This paper addresses the stabilization task of the inverted pendulum on a cart, which is a classical example of unstable control system. We used partial linearization to bring the system into a normal form for which we propose a one-swing stabilizer. Then, through a parametric identification of a laboratory test-bed we acquired a reliable model that served us to prepare experiments. Experimental results and simulations confirmed the realistic performance of the proposed controller in stabilizing the system at the unstable equilibrium point with only one swing of the pendulum.