Hybrid Controller for Inverted Pendulum System

In this paper, a hybrid controller designed for swinging up and stabilizing an inverted pendulum on cart system is presented. The controller composes of a PD controller and a sliding mode controller. The PD controller is implemented to control the position of the cart to swing up the pendulum from t...

Full description

Saved in:
Bibliographic Details
Main Authors: Panya, S., Benjanarasuth, T., Nundrakwang, S., Ngamwiwit, J., Komine, N.
Format: Conference Proceeding
Language:English
Subjects:
Angular velocity
Angular velocity control
Control systems
Design engineering
Information science
Mathematical model
Nonlinear equations
PD control
Sliding mode control
Switches
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, a hybrid controller designed for swinging up and stabilizing an inverted pendulum on cart system is presented. The controller composes of a PD controller and a sliding mode controller. The PD controller is implemented to control the position of the cart to swing up the pendulum from the natural pendent position to around the upright position, while the sliding mode controller is implemented to stabilize the inverted pendulum in the upright position. Root-locus method is applied to design the PD controller and LQR method is employed to design the sliding mode controller. The implementation results of the proposed hybrid controller are shown in this paper.
DOI:10.1109/ISCIT.2008.4700219