Swinging up a Pendulum by Energy Control
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.
Department/s
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