抄録
The purpose of this study is to design a swinging up control law for a rotation type inverted pendulum. Rotation type inverted pendulum system consists of a pendulum and a rotation arm. The pendulum angle is controlled by moving the arm. We proposed a control law that switches control input according to the pendulum angle. This control law was designed for a system whose input acts on the pivot of pendulum directly. The control input of the system considered in this paper, acts on it through rotation arm. In numerical simulations, the relationship between the control gain and the convergence speed of pendulum angle is discussed.
