Swing-up control of an inverted pendulum by energy-based methods
- 1 January 1999
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)
- Vol. 6, 4045-4047 vol.6
- https://doi.org/10.1109/acc.1999.786297
Abstract
The mechanical energy of a pendulum whose pivot can move horizontally can be controlled according to signs of the pivot acceleration values. A servo design technique is proposed which can control the pivot acceleration considering a limited travel of the pivot. This control law is applied to the swing-up control problem for an inverted pendulum.Keywords
This publication has 3 references indexed in Scilit:
- Nonlinear controller design for a crane system with state constraintsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1998
- Swing-up control of inverted pendulum systemsRobotica, 1996
- Control of unstable mechanical system Control of pendulum†International Journal of Control, 1976