Swinging up a Pendulum by Energy Control
Författare
Summary, in English
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.
Avdelning/ar
Publiceringsår
2000
Språk
Engelska
Sidor
278-285
Publikation/Tidskrift/Serie
Automatica
Volym
36
Issue
2
Dokumenttyp
Artikel i tidskrift
Förlag
Pergamon Press Ltd.
Ämne
- Control Engineering
Nyckelord
- Inverted pendulum
- Swing-up
- Energy control
- Minimum time control
Status
Published
ISBN/ISSN/Övrigt
- ISSN: 0005-1098