Swing-up of inverted pendulum by using both vertical axis and horizontal axis

The inverted pendulum is often used for confirmation of control theory and a new control design, because it is an unstable system and experiments of it are easy. This paper discusses a swing-up problem of the inverted pendulum. While an inverted pendulum is usually swung up with the horizontal movement of a cart, we propose a new swing-up method by using both a horizontal and vertical movements of a cart. The movement of a cart is designed to increase the energy of the pendulum. With the proposed method, a time for swing-up is reduced. Effectiveness of the proposed method is confirmed through the experiments. Because the proposed swinging-up control does not use system parameters (mass and length of pendulum etc.), that has robustness against parameter uncertainty.