Swing-up and balancing control of an inverted pendulum mechanism

This video presents swing-up and balancing control for a pole-on-cart mechanism (inverted pendulum configuration). The swing-up of the system from the stable downward position to the unstable upright position is accomplished by an energy-based controller, which takes into account the finite length of the cart travel along the linear guide. A linear state feedback controller, designed using LQR techniques, is employed for balancing the pole at the unstable upright position. The controllers have been devel