Non-linear swing-up and stabilizing control of an inverted pendulum system

Author

Bugeja, Marvin

Author_Institution

Fac. of Eng., Malta Univ., Msida, Malta

Volume

2

fYear

2003

fDate

22-24 Sept. 2003

Firstpage

437

Abstract

This paper presents the design and implementation of a complete control system for the swing-up and stabilizing control of an inverted pendulum. In particular, this work outlines the effectiveness of a particular swing-up method, based on feedback linearization and energy considerations. The power of modern state-space techniques for the analysis and control of Multiple Input Multiple Output (MIMO) systems is also investigated and a state-feedback controller is employed for stabilizing the pendulum. Cascade control is then utilized to reduce the complexity of the complete controller by splitting it into two separate control loops operating at well distinct bandwidths.

Keywords

cascade control; feedback; nonlinear control systems; pendulums; stability; state-space methods; cascade control; control loops; feedback linearization; inverted pendulum; multiple input multiple output; non-linear swing-up control; stabilization; state-feedback control; state-space; Control systems; Control theory; Design engineering; Linear feedback control systems; Mechanical systems; Modems; Nonlinear control systems; Power engineering and energy; Rails; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

EUROCON 2003. Computer as a Tool. The IEEE Region 8

Print_ISBN

0-7803-7763-X

Type

conf

DOI

10.1109/EURCON.2003.1248235

Filename

1248235