Switching output utilizing time-varying output function — Applying to standing posture control of Acrobot

This paper considers a posture control of Acrobot system via modifying output with time varying function. Posture control from one equilibrium to another is realized by switching two output functions. Proposed method is to connect two outputs with time-varying function. Time-varying function is designed to keep some smoothness of the outputs at the connections. This enables output to keep zero value, and then, transient dynamics is written as a simple form and easy to be analyzed.