Abstract
The invert pendulum is often used to confirm the control theory and a new control design, because it is unstable system and an experiment on it is easy. This paper has a discussion about a swinging-up and a stabilizing control of the inverted pendulum. First, the capability of an experimental apparatus is confirmed by the open-loop control. After the swinging-up, stabilization in the inverted state is performed by the linear control. Next, the energy based control for swinging-up is designed and applied to the experiment. Since the proposed swinging-up control does not use system parameters, our control has robustness against parameter errors. Robustness of the proposed control is confirmed.
