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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.

Evaluation of discrete-time VSC on an inverted pendulum apparatus with additional dynamics

Hara M., Furuta K., Pan Y., Hoshino T.

Applied Mathematics and Computer Science

1998

Vol. 8, no 1

159-181

Discrete-time Variable Structure Control (VSC) with sliding sector is experimentally evaluated on a new rotational-type inverted pendulum apparatus including an additional dynamics which is used to investigate the robustness of the controller. It is experimentally shown that the discrete-time VS controller makes the system robust stable with respect to parameter uncertainties and gives a quick response against external disturbances, which yields a good control performance without chattering.