@ARTICLE{Furuta_K._Swing-up_2004,
 author={Furuta, K. and Iwase, M.},
 volume={vol. 52},
 number={No 3},
 journal={Bulletin of the Polish Academy of Sciences Technical Sciences},
 pages={153-163},
 howpublished={online},
 year={2004},
 abstract={Swing-up control of a single pendulum from the pendant to the upright position is firstly surveyed. The control laws are comparatively studied based on swing-up time from a given initial state to the upright position. The State Dependent Riccati Equation is found effective for designing the swing-up control law under saturating control input. The control law is extended to a linear combination of sine function of the angle and the angular velocity, and a variable structure control with a sliding mode given by the linear combination. Making the swing-up time correspond to a colour, which is similar to the Fractal analysis, colour maps of the swing-up time for given control parameters and initial conditions yield interesting Fractal-like figures.},
 type={Artykuły / Articles},
 title={Swing-up time analysis of pendulum},
 URL={http://ochroma.man.poznan.pl/Content/111820/PDF/(52-3)153.pdf},
 keywords={pendulum control, state dependent Riccati equation, nonlinear control, artificial gravity, fractal},
}