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limitation and actuator constraints systematically. In
this approach, the swing-up maneuver of an inverted
pendulum from downward equilibrium to upward
equilibrium is accomplished within a two-degrees of
freedom control scheme consisting of nonlinear opti-
mal feedforward controller and the optimal feedback
controller. The feedforward control input trajectory
is generated by the newly developed optimal control
solver that can handle the input and output constraints
of the system. Simulation and experimental results
showed close resemblance, which shows that the pro-
posed method is quite practical. The swing-up of
the inverted pendulum through the proposed method
turned out to be always successful. The proposed ap-
proach enables one to make the most of performance
of the given actuator. The presented approach can be
extended to the swing-up control of a double or triple
inverted pendulum without much of modification.
ACKNOWLEDGEMENTS
This research was supported by the MSIP(Ministry
of Science, ICT and Future Planning), Korea, un-
der the C-ITRC(Convergence Information Technol-
ogy Research Center)support program(NIPA-2014-
H0401-14-1003) supervised by the NIPA(National IT
Industry Promotion Agency) and was also supported
by Korea Electric Power Corporation Research Insti-
tute through Korea Electrical Engineering & Science
Research Institute (grant number: R13GA04).
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