Swing Up a Pendulum by Energy Control

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Author(s) Arafat Zaidan | Bashir M.Y.Nouri | Basim Alsayid
Pages 528-534
Volume 2
Issue 3
Date March, 2012
Keywords Inverted Pendulum, Swing up, Energy control, Fuzzy controller, Linear controller

The inverted pendulum is a common-interesting control problem that involves many basic elements of control theory. This paper investigates the swinging up problem of a real pendulum from its lower position to the upper position and the balancing problem of the pendulum around the upper position. For swinging up the pendulum a fuzzy logic controller with two sets of rules, and two inputs is used while for stabilization a linear controller is used.

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