Swing-up control of a single inverted pendulum on a cart with input and output constraints

In this paper we propose a new swing-up strategy for a single inverted pendulum. The proposed method has a feature that can handle the limitation of the pendulum-rail length and actuator constraints using both feedforward and feedback control. The feedforward trajectories are generated by solving an optimal control problem having two-point boundary conditions. The limitation of the rail length and the actuator constraints are taken into account in the problem formulation. Feedback control is combined with the feedforward control to compensate the deviation between the desired trajectories and actual trajectories. The experimental results of the proposed strategy show that it has a good swing-up performance while satisfying all the imposed constraints.