A METHOD FOR SWING-UP OF THE INVERSE PENDULUM ON A CART
Inverse pendulum on a cart is a mechanical system with strong nonlinearities. The system is under actuated, with two degrees of freedom and single control signal. It can be highlighted two phases of the process control: swing-up phase and stabilization phase. This paper investigates solutions for the swing-up phase. Usually the control strategy for raising the pendulum is based on energy control. The problem gets more complicated when taking into account that the length of the track on moving cart is finite and the force acting on the cart has limited value. A solution that uses the maximum possible value of the control signal is proposed and the time when the control signal is switched is obtained by means of a search algorithm.
Key words: Inverse pendulum on a cart, modeling, simulations, energy control, search algorithms.
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