Self-Tuning Control for Rotation Type Inverted Pendulum Using Two Kinds of Adaptive Controllers

This paper presents the self-tuning control method for the rotation type inverted pendulum that the momentum of inertia of the pendulum part changes widely. The control system prepares two kinds of adaptive controllers, and the stabilization of inverted pendulum is achieved by separating the control mode to two stages. The rotational angle of the pendulum is stabilized by VSS (variable structure system) adaptive control method to unknown parameter system at the first stage, and whole basic parameters are simultaneously estimated in the parameter estimation system. After the eigenvalue of the inverted pendulum system converge sufficiently, the controller is changed to LQ (linear quadratic) control at the second stage. It is verified by the practical experiment that the proposed self-tuning strategy is very useful as one of the on-line tuning method