@conference {25, title = {Robust global swing-up of the pendubot via hybrid control}, booktitle = {Proc. 27th American Control Conference}, series = {NULL}, year = {2008}, pages = {1424{\textendash}1429}, abstract = {Combining local state-feedback laws and open-loop schedules, we design a hybrid control algorithm for robust global stabilization of the pendubot to the upright configuration (both links straight up with zero velocity). Our hybrid controller performs the swing-up task robustly by executing a decision-making algorithm designed to work under the presence of perturbations. The hybrid control algorithm features logic variables, timers, and hysteresis. We explicitly design the control strategy and implement it in a real pendubot system using Matlab/Simulink with Real-time Workshop. Experimental results show the main capabilities of our hybrid controller.}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4586692\&isnumber=4586444:PDF;SLIDES:Talks/ACC2008-WeC05-4.pdf:PowerPoint}, url = {https://hybrid.soe.ucsc.edu/files/preprints/25.pdf}, author = {R. O{\textquoteright}Flaherty and R. G. Sanfelice and A. R. Teel} }