Dynamic Switching Control for the Swing-up and Stabilizing Control of the Furuta Pendulum

This paper presents the design and simulation for the swing-up and stabilizing control of the Furuta pendulum, which is widely used to illustrate ideas emerging in the field of nonlinear control. In this paper, a dynamic switching controller is designed. The designed controller switches to the corresponding control manner in the specified region. For sing-up control, it is according to the sign of angular displacement and angular velocity of the pendulum that a proportional controller is designed. For stabilizing control, a model-based fuzzy controller is designed by utilizing the design technique of parallel distributed compensation (PDC). The solution of numerical simulation shows the efficiency of the presented method