Passivity-Based Control for the Cart-Pole in Implicit Port-Hamiltonian Representation: An Experimental Validation

This paper presents the design, analysis and experimental validation of a passivity-based control strategy for the local stabilization and swing-up of the well-known cart-pole system in implicit port-Hamiltonian representation. The stabilizing controller features the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method with an optimal local assignment. The swing-up controller is derived from the so-called energy-based control approach and underlines the stabilization of a level-set (homoclinic orbit). The combination of these controllers guarantees the swing-up and asymptotic stabilization of the upright pendulum position, as well as the desired cart location. The effectiveness of the proposed control scheme is verified via real-time experiments, and the results are compared with those from other authors.