minimum time swing up and stabilization of rotary inverted pendulum using pulse step control

MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL

This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...

Self-Erecting Inverted Pendulum: Swing up and Stabilization Control

Inverted pendulum control is a well-known and challenging problem, which is generally associated to attitude control of a rocket during take off. This system consists of one input generating the cart driving force, and two outputs (linear position of the cart and angular position of the rod). The objective of this experimental design is to swing up the pendulum rod using an appropriate open loo...

Swing up and Stabilization of Rotary Inverted Pendulum using TS Fuzzy

This paper presents an approach for the swing up and stabilization of a rotary inverted pendulum (RIP). RIP system is an unstable, multi-variable, under actuated and highly nonlinear in nature. RIP consists of a pivot arm, the pivot arm rotates in a horizontal plane by means of a servo motor. The opposite end of the arm is attached to the pendulum rod whose axis is along the radial direction of...

Swing-Up and Stabilization of Rotary Inverted Pendulum Using Sliding Modes

Control of Rotary Inverted Pendulum (RIP) is a classic control problem. It represents a broader class of underactuated systems. The dynamical equations of RIP are nonlinear coupled and complex. The nonlinear feature and the complex internal dynamics makes the design of the control challenging. This paper presents swing up and stabilization both via sliding modes. Tracking control of rotary actu...

Swing up Control of an Inverted Pendulum

Swing-up control of inverted pendulum systems

In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with pre...