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1 Bulletin of the Polish Academy of Sciences. Technical Sciences

1 2004

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Swing-up time analysis of pendulum

Furuta K., Iwase M.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2004

Vol. 52, nr 3

153-163

Swing-up control of a single pendulum from the pendant to the upright position is firstly surveyed. The control laws are comparatively studied based on swing-up time from a given initial state to the upright position. The State Dependent Riccati Equation is found effective for designing the swing-up control law under saturating control input. The control law is extended to a linear combination of sine function of the angle and the angular velocity, and a variable structure control with a sliding mode given by the linear combination. Making the swing-up time correspond to a colour, which is similar to the Fractal analysis, colour maps of the swing-up time for given control parameters and initial conditions yield interesting Fractal-like figures.