Lyapunov Control for Inverted Pendulum Swing Up

The video demonstrates Lyabunov-based nonlinear control to swing up a pendulum on a cart and balance it in an inverted position using state feedback control. The controller implementation is part of a project in the Continuation Course in Control (ET2612/ET2622 year 2021) at Blekinge Institute of Technology. The controller is implemented and the video is produced by two of our students, Fritjof Nilsson and Yanyun Peng, taking the control course.