Provided is a swing-up control system of an inverted pendulum subject to input and output constraints. A system in which swing up of an inverted pendulum is controlled by the operation of a cart comprises: a control unit for controlling swing-up of the inverted pendulum using a first cost function and a second cost function while satisfying constraint conditions that must be satisfied by the inverted pendulum, during the swing-up control; and a storage unit for storing the constraint conditions, the first cost function and the second cost function. The purpose of the present invention is to provide swing-up control without trial and error.
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