Control system design for the PenduLIM: a novel integrated architecture of inverted pendulum and linear induction motor

We propose an integrated control architecture for the "PenduLIM" which consists of an inverted pendulum (IP) mounted on a linear induction motor (LIM). According to this innovative architecture, the IP is swung up and stabilized to its upright unstable equilibria as well as the displacement is regulated to zero, by exerting horizontal thrust from the LIM. In order to cope with this highly nonlinear and unstable system, the IP is controlled via a passivity-based energy controller coincides with a model-reference adaptive controller while the LIM is controlled via a thrust controller with secondary resistance adaptation. Then, by feeding the IP control law as command of LIM servo control subsystem, the overall closed-loop system is globally asymptotically stable (A.S.) in the sense of arbitrary initial displacement and angle. Finally, the success of proposed control scheme is demonstrated by numerical simulations.