DocumentCode
3181664
Title
Swing up and stabilization control experiments for a rotary inverted pendulum— An educational comparison
Author
Özbek, Necdet Sinan ; Efe, Mehmet Önder
Author_Institution
Dept. of Electr. & Electron. Eng., TOBB Univ. of Econ. & Technol., Ankara, Turkey
fYear
2010
fDate
10-13 Oct. 2010
Firstpage
2226
Lastpage
2231
Abstract
This paper focuses on the swing up and stabilization control of a rotary inverted pendulum system with linear quadratic regulator (LQR), sliding mode control (SMC) and fuzzy logic control (FLC). The inverted pendulum, a popular control application exists in several forms and due to its widespread use for prototyping control schemes we present experimental results obtained on a rotary version of the pendulum. The paper develops the dynamical model and introduces the implementation of the considered schemes comparatively.
Keywords
fuzzy control; linear quadratic control; nonlinear systems; pendulums; stability; variable structure systems; educational comparison; fuzzy logic control; linear quadratic regulator; rotary inverted pendulum; sliding mode control; stabilization control experiment; swing up experiment; Robustness; LQR; Rotary inverted pendulum; fuzzy logic; sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on
Conference_Location
Istanbul
ISSN
1062-922X
Print_ISBN
978-1-4244-6586-6
Type
conf
DOI
10.1109/ICSMC.2010.5641962
Filename
5641962
Link To Document