Title :
Hybrid Controller for Swinging up Inverted Pendulum System
Author :
Nundrakwang, Songmoung ; Benjanarasuth, Taworn ; Ngamwiwit, Jongkol ; Komine, Noriyuki
Author_Institution :
Fac. of Eng., King Mongkut´´s Inst. of Technol. Ladkrabang, Bangkok
Abstract :
A hybrid controller for swinging up inverted pendulum system is proposed in this paper. The controller composes of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position by moving the cart back and forth until the pendulum swings up around the upright position. The second part is a servo state feedback control designed by LQR which will be switched to stabilize the inverted pendulum in its upright position. The effectiveness and reliability of the proposed hybrid controller for swinging up inverted pendulum on cart are also shown by the experimental results
Keywords :
PD control; control system synthesis; linear quadratic control; pendulums; position control; servomechanisms; state feedback; LQR; PD position control; cart; hybrid controller; linear quadratic regulator; natural pendent position; reliability; servo state feedback control; swinging up inverted pendulum system; Communication system control; Control systems; Information technology; Linear feedback control systems; Motion control; PD control; Position control; Regulators; Servomechanisms; State feedback; Inverted Pendulum; Linear Quadratic Regulator; PD Position Control; Swinging-up Control;
Conference_Titel :
Information, Communications and Signal Processing, 2005 Fifth International Conference on
Conference_Location :
Bangkok
Print_ISBN :
0-7803-9283-3
DOI :
10.1109/ICICS.2005.1689094
