Periodic Event-Triggered Swing-Up Control of the Inverted Pendulum

  • E. Aranda-EscolásticoEmail author
  • F. Gordillo
  • M. Guinaldo
  • S. Dormido
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 402)


In this paper, a novel strategy for swinging up an inverted pendulum is proposed. The strategy combines an energy-based control law with an event triggering condition to minimize transmissions, protect actuators and save energy. In addition, the strategy is periodic event-triggered, which provides two main advantages: An analytical way to determine a priori the sampling period to guarantee the appropriate behavior and an easy implementation in real prototypes.


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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  • E. Aranda-Escolástico
    • 1
    Email author
  • F. Gordillo
    • 2
  • M. Guinaldo
    • 1
  • S. Dormido
    • 1
  1. 1.Department of Computer Science and Automatic ControlUniversidad Nacional de Educación a Distancia (UNED)MadridSpain
  2. 2.Department of Systems Engineering and Automatic ControlUniversidad de SevillaSevillaSpain

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