Controller Design Aimed at Achieving the Desired States in a 2-DOF Rotary Inverted Pendulum
Lubaid Nisar, Majid H. Koul, Babar Ahmad
Abstract
This paper addresses the challenge of swinging up a 2-DOF rotary inverted pendulum while controlling both, the position and speed of the horizontal link, at the precise time of controller switching. A nonlinear controller based on an appropriately chosen Lyapunov function is proposed for the purpose of achieving the desired states of the system. Once the pendulum is in the upright position, the system transitions to a linear controller, utilizing full state feedback, to stabilize it at its final desired position. The efficacy of the controller is tested experimentally on a setup built in-house and the results are found to be satisfactory.
Topics & Concepts
Inverted pendulumControl theory (sociology)Controller (irrigation)Control engineeringPendulumEngineeringComputer sciencePhysicsMechanical engineeringControl (management)Nonlinear systemArtificial intelligenceQuantum mechanicsAgronomyBiologyAdaptive Control of Nonlinear SystemsAdvanced Control Systems DesignHydraulic and Pneumatic Systems