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Swinging up a Pendulum by Energy Control

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Author

Summary, in English

Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions.

Publishing year

2000

Language

English

Pages

278-285

Publication/Series

Automatica

Volume

36

Issue

2

Document type

Journal article

Publisher

Pergamon Press Ltd.

Topic

  • Control Engineering

Keywords

  • Inverted pendulum
  • Swing-up
  • Energy control
  • Minimum time control

Status

Published

ISBN/ISSN/Other

  • ISSN: 0005-1098