The 21st SICE Kyushu Chapter Annual Conference Abstract [203A]

Last update: Fri Mar 28 21:23:56 2003

203A2
Swinging up of a rotational inverted pendulum by energy control
AUTHORS
Mitsuaki Ishitobi, Yoshihiro Nishioka (Kumamoto University)
ABSTRACT
This note treats swinging up of a rotational inverted pendulum by energy control. Lozano et al. proposed a simple control method for an inverted pendulum system. However, it is hard to swing up a pendulum experimentally by their method because the effect of friction is neglected. We consider swinging up control of a rotational inverted pendulum with friction. Simulation results show the effectiveness of our method.