Swing-up and balancing control of an inverted pendulum mechanism
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YouTubeHMU-CSRL
Swing-up and balancing control of an inverted pendulum mechanism
This video presents swing-up and balancing control for a pole-on-cart mechanism (inverted pendulum configuration). The swing-up of the system from the stable downward position to the unstable upright position is accomplished by an energy-based controller, which takes into account the finite length of the cart travel along the linear guide. A ...
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