제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Hybrid PD-Servo State Feedback Control Algorithm for Swing up Inverted Pendulum System

  • Nundrakwang, Songmoung (Faculty of Engineering and Research Center for Communications and Information Technology, King Mongkut’s Institute of Technology Ladkrabang) ;
  • Benjanarasuth, Taworn (Faculty of Engineering and Research Center for Communications and Information Technology, King Mongkut’s Institute of Technology Ladkrabang) ;
  • Ngamwiwit, Jongkol (Faculty of Engineering and Research Center for Communications and Information Technology, King Mongkut’s Institute of Technology Ladkrabang) ;
  • Komine, Noriyuki (Dept. of Applied Computer Engineering, School of Information Technology and Electronics, Tokai University)
  • Published : 2005.06.02
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Abstract

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

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