Time-optimal swing-up feedback control of a pendulum |
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Authors: | F L Chernousko S A Reshmin |
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Institution: | (1) Institute for Problems in Mechanics of the Russian Academy of Sciences, 101-1 prosp. Vernadskogo, Moscow, 119526, Russia |
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Abstract: | 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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Keywords: | Pendulum Swing-up control Time-optimal control Feedback control Maximum principle |
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