A controller for swinging-up and stabilizing the inverted pendulum
نویسنده
چکیده
The hybrid solution to the pendulum swinging-up and stabilizing problem introduced by Åström and Furuta is based in two steps: an energy injection and a linear stabilization around the desired inverted position. However the energy injection stage only considers the pendulum, and not the motion of the pivot. Furthermore, for the stabilization stage linear law, only a very small basin of attraction can be guaranteed. In this paper the energy controller is enlarged to cope with the pivot dynamics and a nonlinear controller is introduced for the stabilization stage with a larger basin of attraction. The approach proposed allows to cope both with the pendulum on a cart and the Furuta one. Experiments with a laboratory Furuta pendulum are included.
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