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

fYear

0

fDate

0-0 0

Firstpage

488

Lastpage

492

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Information, Communications and Signal Processing, 2005 Fifth International Conference on

Conference_Location

Bangkok

Print_ISBN

0-7803-9283-3

Type

conf

DOI

10.1109/ICICS.2005.1689094

Filename

1689094