Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum

This paper focuses on implementation of swing-up, switching and stabilizing controllers for rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H₂/H_∞ state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip^®.