Research and verification on swing-up control algorithm of rotary inverted pendulum

In this paper, a dynamical equation of single rotary inverted pendulum is established, which based on Lagrange equation for the swing-up control problem of single rotary inverted pendulum. The algorithm of energy compensation control is proposed on the basis of this theory, and the experimental device based on DC servo motor during the single rotary inverted pendulum is established. The swing-up control of single rotary inverted pendulum is realized on the basis of experimental facility. The result of the actual control shows that the method proposed is effective and feasible.