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Swinging up a Pendulum by Energy Control

Åström, Karl Johan LU and Furuta, Katsuhisa (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
and
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 Press Ltd.
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
2016-04-01 15:51:13
date last changed
2022-04-22 17:54:39
@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       = {{Åström, Karl Johan and Furuta, Katsuhisa}},
  issn         = {{0005-1098}},
  keywords     = {{Inverted pendulum; Swing-up; Energy control; Minimum time control}},
  language     = {{eng}},
  number       = {{2}},
  pages        = {{278--285}},
  publisher    = {{Pergamon Press Ltd.}},
  series       = {{Automatica}},
  title        = {{Swinging up a Pendulum by Energy Control}},
  url          = {{http://dx.doi.org/10.1016/S0005-1098(99)00140-5}},
  doi          = {{10.1016/S0005-1098(99)00140-5}},
  volume       = {{36}},
  year         = {{2000}},
}