Swing-up and Stabilizing Control of Inverted Pendulum with Restricted Travel Width and Cart Speed

The inverted pendulum is one of the most common experimental devices used to illustrate nonlinear control techniques, and various studies have been conducted on its swing-up and stabilization control from different perspectives. In real-world inverted pendulums, there are limitations on the displacement and velocity of the fulcrum, making it crucial to consider these constraints in control strategies.In this study, we propose a new swing-up and stabilization control method for the inverted pendulum that allows independent setting of the displacement and velocity limits of the fulcrum. The effectiveness of this method is verified through simulations and experimental tests.