Swinging up a pendulum by energy control
نویسندگان
چکیده
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.
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ورودعنوان ژورنال:
- Automatica
دوره 36 شماره
صفحات -
تاریخ انتشار 2000