Swing-Up Methods For Inverted Pendulum

<p>This paper deals with the design of a swing up controller for the inverted pendulum, which brings the pendulum from any initial position to the unstable up position. Classical method of swing-up control demands large range of movement of cart. Proposed method is assigned for systems with limited movement of cart. This method is based on position control of cart. Reference position is changing according to the state of pendulum. Simulation and experiments on a real pendulum illustrate the results.