Fuzzy Swing Up Control and Optimal State Feedback Stabilization for Self-Erecting Inverted Pendulum
Erwin Susanto, Agung Surya Wibowo, Elvandry Ghiffary Rachman
Abstract
This paper presents the realisation of self-erecting inverted pendulum controls via two switched control approaches, a rule based fuzzy control for swing up inverted pendulum rod to pose upright position from downright position and an optimal state feedback control for stabilization as pendulum on upright position close to its equilibrium vertical line. The aim of this study is to solve two important problems on self-erecting inverted pendulum; swing up and stability in its upright balance position. Simulation and experimental results showed that control methods enabled the inverted pendulum swinging up and reaching its stable attitude in upright position even though small impulse and pulse disturbances were given.