Title :
Implementation of Swinging-up and Stabilizing Controllers for Inverted Pendulum on Cart System
Author :
Asa, Ekachai ; Benjanarasuth, Tawom ; Nundrakwang, Songmoung ; 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, an implementation of swinging-up and stabilizing controllers for 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 experimental results show that the designed controllers can be mutually operated with acceptable efficiency.
Keywords :
control system synthesis; linear systems; nonlinear systems; pendulums; servomechanisms; stability; state feedback; time-varying systems; cart system; coefficient diagram method; energy control concept; inverted pendulum; linear servo state feedback controller; stabilizing controllers; swinging-up controllers; Communication system control; Control systems; Equations; Information technology; Lagrangian functions; Linear feedback control systems; Mathematical model; Power engineering and energy; Servomechanisms; Weight control;
Conference_Titel :
Communications and Information Technologies, 2008. ISCIT 2008. International Symposium on
Conference_Location :
Lao
Print_ISBN :
978-1-4244-2335-4
Electronic_ISBN :
978-1-4244-2336-1
DOI :
10.1109/ISCIT.2008.4700243
