Abstract
The swinging-up control which brings a pendulum to the upright position with zero-velocity has been examined in previous reports. Such a control input can be obtained easily by the use of the energy method if the damping is zero. In general, however, it is very difficult to obtain the control input. A human operator can control a complicated system such as a gantry crane after enough training. In this paper, we attempt the swinging-up experiment of a pendulum by a human operator, and compare the results with the time optimal control determined numerically. The experimental results show that the subject's control has a good agreement with the time optimal one.
