Self-Erecting Inverted Pendulum: Swing up and Stabilization Control
نویسنده
چکیده
Inverted pendulum control is a well-known and challenging problem, which is generally associated to attitude control of a rocket during take off. This system consists of one input generating the cart driving force, and two outputs (linear position of the cart and angular position of the rod). The objective of this experimental design is to swing up the pendulum rod using an appropriate open loop control. Once the angular position has reached a specified capture range a closed loop control law will stabilize the pendulum at its unstable equilibrium point while maintaining a specified linear set-point.
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