Control of an inverted pendulum using horizontal force (e.g. cart-pole) is a well-established problem. However, there is no work in the literature that addresses controlling an inverted pendulum using only vertical force without horizontal movement. In this paper, control algorithm is presented that can control the inverted pendulum via only vertical force within the operating range of the given system. In the process, the dynamic stabilizing effect of vertical harmonic oscillation acting on inverted pendulum is exploited and previous works on the analysis of the stabilizing effect is utilized. The result is a nonlinear controller that combines sliding mode and energy shaping control which is capable of stabilizing the pendulum upright as well as at any titled angle within the region of attraction described. This is done for pendulum starting at any initial angle while maintaining vertical movement of the inverted pendulum within the prescribed space limit.

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