Synthesis of control inputs for simultaneous control of angle and position of inverted pendulum

This paper presents a synthesis method of control inputs to control both position and angle of the inverted pendulum simultaneously. As well known, the tradeoffs in control between position and angle make it difficult to control them simultaneously. To resolve the control conflict between position and angle, this paper introduces the new weighting factors describing contribution degree of the control inputs. To verify the validity of the proposed algorithm, computer simulations as well as experiments with prototypes of the inverted pendulum system are conducted