期刊
AUTOMATICA
卷 36, 期 2, 页码 287-295出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/S0005-1098(99)00140-5
关键词
inverted pendulum; swing-up; energy control; minimum time control
Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions. (C) 1999 Elsevier Science Ltd. All rights reserved.
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