Adaptive simple pendulum swing-up controller based on the closed-loop fundamental dynamics

Philine Donner, Franz Christange, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations


An adaptive energy-based swing-up controller for simple pendulums is presented. A state transformation from cartesian to polar phase space followed by approximation steps leads to the fundamental dynamics of the controlled simple pendulum. Based on the fundamental dynamics, the unknown natural frequency is estimated and a control gain is adjusted such that the system energy follows desired reference dynamics. We prove convergence of the natural frequency estimate to the true value as well as convergence of the system energy to the desired energy level under the fundamental dynamics assumption. The implications of the fundamental dynamics approximation are evaluated in simulation. Noise affected angle measurements simulate a realistic inverted pendulum experiment. The successful swing-up into the highly nonlinear regimes of the simple pendulum support the applicability of the fundamental dynamics.

Original languageEnglish
Title of host publication2015 European Control Conference, ECC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9783952426937
StatePublished - 16 Nov 2015
EventEuropean Control Conference, ECC 2015 - Linz, Austria
Duration: 15 Jul 201517 Jul 2015

Publication series

Name2015 European Control Conference, ECC 2015


ConferenceEuropean Control Conference, ECC 2015


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