Anti-swing Control System for the One Class of Underactuated Dynamic Objects

The paper deals with the control system design for pendulum on the cart. This control system moves cart on the desired position as well as compensate load swing. The above-mentioned control system consists of three control loops, which compensate inner object dynamic, stabilize pendulum position in the stable state, and move cart on the desired position. Each control loop is designed by using strong theoretical backgrounds and does not contain any pieces of personalism. Suggest approach provides designed control system with asymptotic stability and high accuracy. Designed control system can operate in a wide range of object parameters through to use of sliding mode control techniques.