Journal
NONLINEAR DYNAMICS
Volume 47, Issue 1-3, Pages 65-73Publisher
SPRINGER
DOI: 10.1007/s11071-006-9059-3
Keywords
pendulum; swing-up control; time-optimal control; feedback control; maximum principle
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Time-optimal feedback control is obtained that brings a pendulum to the upper unstable equilibrium position. The solution is based on the maximum principle and involves analytical investigations combined with numerical computations. As a result, the switching and dispersal curves that bound the domains in the phase plane corresponding to different values of the optimal bang-bang control are constructed for various values of the maximal admissible control torque.
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