2015-03-062015-03-0620080005-1098http://hdl.handle.net/11441/23373Es el primer envío que hago. Le agradeceré si me confirma que es todo correcto, especialmente el cumplimiento de los derechos de propiedad de la editorial. Mi email es gordillo@us.esThe paper presents a new family of controllers for swinging up a pendulum. The swinging up of the pendulum is derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions of the state space. A family of simple smooth controllers without switches with nice properties is obtained. The main result is that all solutions that do not start at a zero Lebesgue measure set converge to the upright position for a wide range of the parameters in the control law. Thus, the swing-up and the stabilization problems are simultaneously solved with a single, smooth law. The properties of the solution can be modified by the parameters in the control law. Control signal saturation can also be taken into account using the Hamiltonian approach.application/pdfengAtribución-NoComercial-CompartirIgual 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-sa/4.0/PendulumShaping HamiltoniansSwing-upEnergy managementinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccess10.1016/j.automatica.2007.10.040https://idus.us.es/xmlui/handle/11441/23373