Study on Typical Nonlinear System Control Strategies Based on Energy Conversion

Based on the analysis of the typical nonlinear system, the swing-up control strategy based on energy conversion was proposed for the single inverted pendulum. Through introducing the concepts of “Cart Potential Well,” “Velocity Well,” and “Energy Maintenance,” the pure energy-based control strategy was modified. During the whole swing-up process, it could ensure the pendulum could be swung-up to the upright position quickly and smoothly. In the meantime, the cart displacement could be restricted within limited length in both directions. Then, this optimal controller would be implemented and simulated in MATLAB and tested on the cart-pendulum real-time application. The experimental results indicate that the control theories described in this paper could achieve all the swing-up control requirements for the inverted pendulum and get the desired results successfully.