Hybrid Controller for Inverted Pendulum System

In this paper, a hybrid controller designed for swinging up and stabilizing an inverted pendulum on cart system is presented. The controller composes of a PD controller and a sliding mode controller. The PD controller is implemented to control the position of the cart to swing up the pendulum from the natural pendent position to around the upright position, while the sliding mode controller is implemented to stabilize the inverted pendulum in the upright position. Root-locus method is applied to design the PD controller and LQR method is employed to design the sliding mode controller. The implementation results of the proposed hybrid controller are shown in this paper.