VSS-version of energy-based control for swinging up a pendulum

A new algorithm ensuring global attractivity of the upright (unstable) equi librium of a pendulum, based on the variable structure system-version of th e energy-speed-gradient method, is proposed. It is shown that global attrac tivity cannot be obtained with continuous static state feedback. A detailed global analysis of the transient behavior of the closed loop system is pre sented. In addition, it is shown that the global attractivity of the uprigh t equilibrium can be achieved by applying a control of arbitrarily small ma gnitude. (C) 2001 Elsevier Science B.V. All rights reserved.