Hybrid control strategy for robust global swing-up of the pendubot

Combining local state-feedback laws and open-loop schedules, we design a hybrid control algorithm for robust global stabilization of the pendubot to the upright configuration (both links straight up with zero velocity). Our hybrid controller performs the swing-up task by executing a decision-making algorithm designed to work under the presence of perturbations. The hybrid control algorithm features logic variables, timers, and hysteresis. We explicitly design, implement, and validate this control strategy in a real pendubot system using Matlab/Simulink with Real-time Workshop. Experimental results show the main capabilities of our hybrid controller.