Identification and controller design for the inverted pendulum actuated by a position controlled robot

This paper deals with the stabilization of the inverted pendulum mounted on an industrial robot. The manipulator which actuates the pendulum can be controlled only on the level of the position control loops. For controller design the parameters of the pendulum and the robot have been determined. Especially the identification of Coulomb and viscous friction with the help of the decay function of pendulum oscillation will be presented in this article. For the stabilization of the inverted pendulum the parameters of the state space controller are calculated from the given closed loop behavior. The approaches are validated by simulations and practical experiments.