Swing Up Control of Inverted Pendulum Abstract

Katsuhisa Furuta and Masaki Yamakita Department of Control Engineering Tokyo Institute of Technology 2121 0 h-0 kayama, Meguroku Tokyo 152 Japan Seiichi Kobayashi Nippon Seiko Ltd. 78 Toriba-machi, Maebashi-shi Gunma 371 Japan Inverted pendulums have been used for the verification of designed control systems and control laboratory experiments in control theory education. In particular, the control of a double inverted pendulum has been known as a good example to show the power of the state space approach. The triple pendulum, however, has not been successfully stabilized at the upright position due to the inaccuracy of the modelling and error introduced by the computation. Instead of these stabilizing control, one of the authors has studied the swing-up of a pendulum from the stable hanging state to the upright position. However, the control input was designed a priori, so the transfer of the state of the pendulum was not assured. One of the reasons is due to unmodelled dynamics. This paper presents a new type of pendulum on a rotating arm fixed to a rotating shaft and a swing up control algorithm based on state space setting. The control input for swing up is restricted to a bang-bang type, which is determined from the phase plane trajectory. Such state feedback type control gives reliable control for the transfer of the state.