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The energy-based swing-up control for a rotational pendulum by controlling both the total mechanical energy and actuated arm has been addressed theoretically. In this study, we verify experimentally the exiting solution of the energy-based swing-up control for the rotational pendulum system developed by Quanser Inc. We show experimentally that the energy-based swing-up control is effective to swing-up...
This paper concerns the problem of swinging up multiple parallel pendulums on a cart by controlling only the energy of pendulums. Although the analysis of the energy control for swinging up single pendulum and two pendulums on the cart has been achieved in existing literature, a few analysis results have been reported for the case of multiple (greater than 2) pendulums. In this paper, we aim to provide...
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