A Swingup Control of an Inverted Pendulum with Cart Position Control

ABSTRACT Mechanical systems such as robots or manipulators have characteristics of non linearity and underactuatedness. These characteristic the make the systems difficult to be controlled and to overcome the difficulties are strongly required by control engineers in industry. Inverted pendulum also has the two characteristics. Especially in a swing-up of an inverted pendulum, the effect of the nonlinearity and underactuatedness appears strongly. This paper gives a control scheme to achieve both of the swing-up control of a pendulum and the position control of the c.art carrying the pendulum. The control law is derived by using a Lyapunov function and making the derivative of the Lyapunov function with respect to time be negative. An experimental result is given to show the effectiveness of the scheme