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Swing-up problem of an inverted pendulum - energy space approach

Balcerzak M.

Mechanics and Mechanical Engineering

2018

Vol. 22, nr 1

33--40

This paper describes a novel, energy space based approach to the swing-up of an inverted pendulum. The details of the swing-up problem have been described. Equations of the velocity-controlled have been presented. Design of the controller based on energy space notion has been elaborated. The control algorithm takes into account state constraints and control signal constraints. Parameters of the controller have been optimized by means of the Differential Evolution method. A numerical simulation of the inverted pendulum driven by the proposed controller has been conducted, its results have been presented and elaborated. The paper confirms that the proposed method results in a simple and effective swing-up algorithm for a velocity-controlled inverted pendulum with state constraints and control signal constraints.