@inproceedings{b35961d17b98433ab7af18c2fcd2ebcd,
title = "Energy based swing-up controller design using phase plane method for rotary inverted pendulum",
abstract = "This study proposes a novel swing-up control strategy for the rotary inverted pendulum based on the feedback linearization and energy control method. After feedback linearization, an energy function is selected to design the swing-up control law where a gain k is chosen according to the trajectories in the phase-plane. It can be found that the time needed for the energy converging to zero is related to the gain k and the use of a larger k comes to a fast energy convergence rate. The comparative analysis and advantages of the proposed swing-up control law are included and demonstrated by numerical simulation.",
keywords = "Energy Control, Feedback Linearization, Phase Plane, Rotary Inverted Pendulum, Swing-up Control",
author = "Chou, {K. Y.} and Yon-Ping Chen",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 ; Conference date: 10-12-2014 Through 12-12-2014",
year = "2014",
doi = "10.1109/ICARCV.2014.7064438",
language = "English",
series = "2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "975--979",
booktitle = "2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014",
address = "美國",
}