Global Stabilization of an Inverted Pendulum – Control Strategy and Experimental Verification

• Published in: Automatica, vol. 45, num. 1, p. 265-269
• Publication date: 2009

The problem of swinging up an inverted pendulum on a cart and controlling it around the upright position has traditionally been treated as two separate problems. This paper proposes a control strategy that is globally asymptotically stable under actuator saturation and, in addition, locally exponentially stable. The proposed methodology, which performs swing up and control simultaneously, uses elements from input-output linearization, energy control, and singular perturbation theory. Experimental results on a laboratory-scale setup are presented to illustrate the approach and its implementation.

Keywords: Nonlinear Systems ; Stabilization ; Feedback Linearization ; Energy Control ; Singular Perturbation.

Reference

• LA-ARTICLE-2007-042
• doi:10.1016/j.automatica.2008.07.004
• View record in Web of Science

Record created on 2007-09-22, modified on 2012-03-21