# Swing-up Control of a Single Inverted Pendulum on a Cart With Input and Output Constraints

### Meta Tum, Giyeong Gyeong, Jae Heon Park, Young Sam Lee

#### Abstract

In this paper we propose a new swing-up strategy for a single inverted pendulum. The proposed method has a feature that can handle the limitation of the pendulum-rail length and actuator constraints using both feedforward and feedback control. The feedforward trajectories are generated by solving an optimal control problem having two-point boundary conditions. The limitation of the rail length and the actuator constraints are taken into account in the problem formulation. Feedback control is combined with the feedforward control to compensate the deviation between the desired trajectories and actual trajectories. The experimental results of the proposed strategy show that it has a good swing-up performance while satisfying all the imposed constraints.

#### References

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#### Paper Citation

#### in Harvard Style

Tum M., Gyeong G., Park J. and Lee Y. (2014). **Swing-up Control of a Single Inverted Pendulum on a Cart With Input and Output Constraints** . In *Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,* ISBN 978-989-758-039-0, pages 475-482. DOI: 10.5220/0005018604750482

#### in Bibtex Style

@conference{icinco14,

author={Meta Tum and Giyeong Gyeong and Jae Heon Park and Young Sam Lee},

title={Swing-up Control of a Single Inverted Pendulum on a Cart With Input and Output Constraints},

booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},

year={2014},

pages={475-482},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0005018604750482},

isbn={978-989-758-039-0},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,

TI - Swing-up Control of a Single Inverted Pendulum on a Cart With Input and Output Constraints

SN - 978-989-758-039-0

AU - Tum M.

AU - Gyeong G.

AU - Park J.

AU - Lee Y.

PY - 2014

SP - 475

EP - 482

DO - 10.5220/0005018604750482