Coupling-energy-based swing-up control for Pendulum–cart system with limited-track length

Xin Xin, Jing Pan, Dingyang Fang, School of Automation, Southeast University, Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Institute of Intelligent Unmanned Systems, Southeast University

Journal of Vibration and Control

Published online on December 13, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
In this paper, we tackle the swing-up control problem for a pendulum–cart system that drives the pendulum to its upright equilibrium point (with the pendulum vertical and the cart at the target position) while explicitly respecting a track-length ...