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

Author

Al-Jodah, Ammar ; Zargarzadeh, H. ; Abbas, Maythem K.

Author_Institution

Electr. & Comput. Eng. Dept., Southern Illinois Univ., Carbondale, IL, USA

fYear

2013

fDate

Nov. 29 2013-Dec. 1 2013

Firstpage

417

Lastpage

423

Abstract

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^®.

Keywords

microprocessor chips; pendulums; stability; state feedback; LQR; Microchip; Microstick II; Simulink embedded target; dsPIC33FJ128MC802; experimental verification; quanser rotary inverted pendulum; reduced oscillations; stabilizing controllers; standard full state feedback; state feedback controller; Equations; Friction; Mathematical model; Software packages; State feedback; Switches; Embedded microcontroller; Mixed H2/H∞; Rotary inverted pendulum; dsPIC;

fLanguage

English

Publisher

ieee

Conference_Titel

Control System, Computing and Engineering (ICCSCE), 2013 IEEE International Conference on

Conference_Location

Mindeb

Print_ISBN

978-1-4799-1506-4

Type

conf

DOI

10.1109/ICCSCE.2013.6720001

Filename

6720001