Srinivasan, B.Huguenin, P.Bonvin, D.2007-09-222007-09-22200910.1016/j.automatica.2008.07.004https://infoscience.epfl.ch/handle/20.500.14299/12390WOS:000262873500035The 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.Nonlinear SystemsStabilizationFeedback LinearizationEnergy ControlSingular Perturbation.text::journal::journal article::research article