Swing Up and Transition to Optimal Control For a Single Inverted Pendulum
Parameter identification and swing up control of a single inverted pendulum is presented. Using Lagrangian
method, the mechanical model of system was derived and the parameters were identified via energetic description of system.
Energy based strategy for swing up controller and LQR approach for stabilization were implemented. A smooth weighted
transition was proposed to hinder overshoot caused by switching from swinging up to stabilization controllers. The model of
system was developed and its results were verified by experiments. The proposed weighted transition method was verified to
decrease jerk and overshoot in the system.
Key words- Optimal Control, Swing up, LQR, Parameter Identification, Inverted Pendulum