Energy-Based Modeling and Swing Up Control Synthesis of an Inverted Pendulum System

Abstract

The inverted pendulum system (IPS) on a cart is an example benchmark that is often used to demonstrate the modeling and control design frameworks of modern control systems. This paper describes the derivation of dynamic model and control law of an IPS using energy-based methods. Specifically, this paper first develops the IPS' dynamic model using Euler-Lagrange method and then derives a control law to stabilize it on the desired position using Lyapunov method. Simulation results are presented to show the capability of the designed control law to stabilize the IVP on its equilibrium point.