抄録
This paper considers the control of a pendulum under torque limitation ; especially, the torque control is studied such that a pendulum moves to the upright position with zero-velocity. First, an energy equation governing the motion of a pendulum is derived. Second, the trajectory of the pendulum is considerd by the use of an energy diagram ; some schemes of torque control are examined and calculated. Third, these numerical results are compared with those of experiments.
