Nonlinear control of swing-up and stabilization of an inverted pendulum

In this paper, we studied swing-up and stabilization problems for an inverted pendulum. An effective control method of stabilizing an inverted pendulum system without resorting to any approximation of each nonlinear term appearing in mathematical models is presented. The key idea was to derive a partially linearized system using the coordinate change and input transformation via the Lie theoretic approach. On the other hand, we proposed a nonlinear state feedback control law to regulate the swinging energy of the pendulum system.