A switched control strategy for swing-up and state regulation for the rotary inverted pendulum

Miguel A. Solis, Manuel Olivares, Héctor Allende

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

The rotary inverted pendulum (RIP) is an underactuated mechanical system that can be balanced in the upward position, by applying the linear control theory based on a nonlinear dynamical model linearized around that position. Its structure makes it possible to implement controllers designed for energy minimization in the non-linearizable region. Due to the limited validity of the resulting linear model, a nonlinear control is needed to automatically move the pendulum close to the linearized region, starting from its stable downward position. A RIP platform has been built to experimentally test a switched control strategy design, which combines an energy-based nonlinear controller for swinging up the pendulum and a linear quadratic regulator for the balancing task. Experimental results validate the performance of this approach on the physical prototype.

Original languageEnglish
Pages (from-to)45-54
Number of pages10
JournalStudies in Informatics and Control
Volume28
Issue number1
DOIs
Publication statusPublished - 1 Jan 2019
Externally publishedYes

Keywords

  • Energy-based control
  • Linear quadratic regulator
  • Lyapunov stability
  • Rotary inverted pendulum
  • Underactuated systems

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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