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Swinging up a Pendulum by Energy Control

Furuta, Katsuhisa and Åström, Karl Johan LU (2000) In Automatica 36(2). p.278-285
Abstract
Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions.
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Inverted pendulum, Swing-up, Energy control, Minimum time control
in
Automatica
volume
36
issue
2
pages
278 - 285
publisher
Pergamon
external identifiers
  • scopus:0034140961
ISSN
0005-1098
DOI
10.1016/S0005-1098(99)00140-5
language
English
LU publication?
yes
id
90f4c9d4-c128-41ba-99d7-d403b6019182 (old id 162902)
date added to LUP
2015-12-27 18:58:24
date last changed
2017-08-20 04:19:14
@article{90f4c9d4-c128-41ba-99d7-d403b6019182,
  abstract     = {Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions.},
  author       = {Furuta, Katsuhisa and Åström, Karl Johan},
  issn         = {0005-1098},
  keyword      = {Inverted pendulum,Swing-up,Energy control,Minimum time control},
  language     = {eng},
  number       = {2},
  pages        = {278--285},
  publisher    = {Pergamon},
  series       = {Automatica},
  title        = {Swinging up a Pendulum by Energy Control},
  url          = {http://dx.doi.org/10.1016/S0005-1098(99)00140-5},
  volume       = {36},
  year         = {2000},
}