Gordillo Alvarez, FranciscoAcosta Rodríguez, José ÁngelAracil Santonja, Javier2025-09-172025-09-172010-08Gordillo Alvarez, F., Acosta Rodríguez, J.Á. y Aracil Santonja, J. (2010). A new swing-up law for the Furuta pendulum. International Journal of Control, 76 (8), 836-844.https://doi.org/10.1080/0020717031000116506.0020-71791366-5820https://hdl.handle.net/11441/176994In this paper the swing-up problem for the Furuta pendulum is solved applying Fradkov’s speed-gradient (SG) method to a dimension 4 modelof the system. The new law is compared with the conventionalA˚ stro¨m–Furuta strategy, based on a dimension 2 model. A comparative analysis, including simulations and experiments, whereby the advantages and effectiveness of the new law for swinging the pendulum up are shown, is included.application/pdf9 p.engComputer simulationHamiltoniansLyapunov methodsPendulumsProblem solvingSpeedSystem stabilityTorqueinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1080/0020717031000116506