203A2 |
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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. |
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Annual Conference 2002