Title :
Hybrid controller for swinging up and stabilizing the inverted pendulum on cart
Author :
Asa, Ekachai ; Benjanarasuth, Taworn ; Ngamwiwit, Jongkol ; Komine, Noriyuki
Author_Institution :
Fac. of Eng. & Res. Center for Commun. & Inf. Technol., King Mongkut´´s Inst. of Technol. Ladkrabang, Bangkok
Abstract :
In this paper, a hybrid controller for swinging up and stabilizing an inverted pendulum on cart is presented. The energy control concept is employed to swing the inverted pendulum up to around the upright position within the assigned switching condition. After that, the stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by coefficient diagram method. The simulation results show that the designed hybrid controller can be mutually operated with acceptable efficiency.
Keywords :
control system synthesis; linear systems; nonlinear control systems; pendulums; servomechanisms; state feedback; assigned switching condition; coefficient diagram method; energy control concept; hybrid controller; inverted pendulum; linear servo state feedback controller design; swinging up; upright position; Automatic control; Automation; Communication system control; Control systems; Equations; Force control; Lagrangian functions; Linear feedback control systems; Mathematical model; Telecommunication control; Coefficient Diagram Method (CDM); Energy Control Method; Inverted Pendulum;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694276
