Abstract
Since the governing equation of a pendulum is nonlinear, the analytical control law is difficult to obtain. In this paper, we use a manual control method to obtain the control law for swinging up of the pendulum. In the manual control method, the operator is required to control the target system skilfully. Hence, we introduce a pendulum simulator, which has good performance to enhance the operator's skill by training. Then the obtained control sequence is stored in the computer and is reproduced in real time. This procedure is called the playback method. The results show that the playback method can be well applied to the problem of swinging up control of the pendulum.
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