Hybrid control of the Pendubot

Swing up and balance control are two interesting control problems for the Pendubot. Many studies have been conducted for swing up control of the Pendubot. A few results have been reported for feedback stabilization of the Pendubot. In this paper, we apply a new hybrid controller for feedback stabilization of the Pendubot. It is well-known that it is impossible to use smooth feedback to stabilize a class of underactuated mechanical systems around their equilibra, even locally. Various nonsmooth controllers have been presented for feedback stabilization of this type of system. However, most of the studies are either based on theoretical proofs or simulations. There is a strong need for experimental study. The Pendubot arises as a special test bed for this purpose. This experimental study has a particular interest for feedback stabilization of underactuated mechanical systems that are not feedback stabilizable using smooth control.