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

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.


Published in:
Automatica, 45, 1, 265-269
Year:
2009
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 Record created 2007-09-22, last modified 2018-01-28

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