Global stabilization of an inverted pendulum–Control strategy and experimental verification

• DOI: 10.1016/j.automatica.2008.07.004
• Publication Date: 2008-12-01T09:16:03Z
• Authors: B. Srinivasan; P. Huguenin; D. Bonvin
• Keywords: Energy Control; 0202 electrical engineering, electronic engineering, information engineering; Singular Perturbation.; Feedback Linearization; 02 engineering and technology; Nonlinear Systems; Stabilization

The problem of swinging up an inverted pendulum on a cart and controlling it around the upright position has traditionally been treated as two separate problems. This paper proposes a control strategy that is globally asymptotically stable under actuator saturation and, in addition, locally exponentially stable. The proposed methodology, which performs swing up and control simultaneously, uses elements from input-output linearization, energy control, and singular perturbation theory. Experimental results on a laboratory-scale setup are presented to illustrate the approach and its implementation.