Analysis of the energy-based control for swinging up two pendulums

Abstract

This note studies the energy-based control for swinging up two pendulums on a cart and it presents an original analysis of the convergence of the energy and the motion of the two pendulums. For the two pendulums with the different natural frequencies, irrespective of initial state of the two pendulums, it is shown that the energy of each pendulum converges… (More)
DOI: 10.1109/TAC.2005.846598

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Cite this paper

@article{Xin2005AnalysisOT, title={Analysis of the energy-based control for swinging up two pendulums}, author={Xin Xin and Masahiro Kaneda}, journal={IEEE Transactions on Automatic Control}, year={2005}, volume={50}, pages={679-684} }