Swinging up a Pendulum by Energy Control

Karl Johan Åström; Katsuhisa Furuta

doi:10.1016/S0005-1098(99)00140-5

Swinging up a Pendulum by Energy Control

Karl Johan Åström, Katsuhisa Furuta

Department of Automatic Control

Research output: Contribution to journal › Article › peer-review

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.

Original language	English
Pages (from-to)	278-285
Journal	Automatica
Volume	36
Issue number	2
DOIs	https://doi.org/10.1016/S0005-1098(99)00140-5
Publication status	Published - 2000

Subject classification (UKÄ)

Control Engineering

Free keywords

Inverted pendulum
Swing-up
Energy control
Minimum time control

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10.1016/S0005-1098(99)00140-5

Cite this

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title = "Swinging up a Pendulum by Energy Control",

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.",

keywords = "Inverted pendulum, Swing-up, Energy control, Minimum time control",

author = "{\AA}str{\"o}m, {Karl Johan} and Katsuhisa Furuta",

year = "2000",

doi = "10.1016/S0005-1098(99)00140-5",

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T1 - Swinging up a Pendulum by Energy Control

AU - Åström, Karl Johan

AU - Furuta, Katsuhisa

PY - 2000

Y1 - 2000

N2 - 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.

AB - 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.

KW - Inverted pendulum

KW - Swing-up

KW - Energy control

KW - Minimum time control

U2 - 10.1016/S0005-1098(99)00140-5

DO - 10.1016/S0005-1098(99)00140-5

M3 - Article

SN - 0005-1098

VL - 36

SP - 278

EP - 285

JO - Automatica

JF - Automatica

IS - 2

ER -

Swinging up a Pendulum by Energy Control

Abstract

Subject classification (UKÄ)

Free keywords

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Cite this