Energy Based Swing-up Controller Design using Phase Plane Method For Rotary Inverted Pendulum

Abstract

This study proposes a novel swing-up control strategy for the rotary inverted pendulum based on the feedback linearization and energy control method. After feedback linearization, an energy function is selected to design the swing-up control law where a gain k is chosen according to the trajectories in the phase-plane. It can be found that the time needed for the energy converging to zero is related to the gain k and the use of a larger k comes to a fast energy convergence rate. The comparative analysis and advantages of the proposed swingup control law are included and demonstrated by numerical simulation.