Javascript verkar inte påslaget? - Vissa delar av Lunds universitets webbplats fungerar inte optimalt utan javascript, kontrollera din webbläsares inställningar.
Du är här

A new family of smooth strategies for swinging up a pendulum

  • Pavel Piztek
Publiceringsår: 2005
Språk: Engelska
Publikation/Tidskrift/Serie: Proceedings of the 16th IFAC World Congress
Dokumenttyp: Konferensbidrag
Förlag: Elsevier


The paper presents a new family of strategies for swinging up a pendulum. They are derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions. A two-parameter family of simple strategies without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set will converge to the upright position for a wide range of the parameters in the control law. Thus, the swing-up and the stabilization problems are simultaneously solved with a single, smooth law.


  • Control Engineering
  • Swing up
  • Pendulum
  • Shaping Hamiltonians


  • ISBN: 0-08-045108-X

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen