Using Hybrid And LQR Method Control Of A Self-Erecting Rotary Inverted Pendulum System Based On PIC 18F4431
نویسندگان
چکیده
The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. This paper presents hybrid control method for swing up and LQR control method for the stabilization. The flexibility of the hybrid control method based on the selection of heuristic swing up controller and energy swing up controller at the different positions of pendulum. The robustness of the LQR control method for the stabilization is tested by attaching a screw driver at the tip of pendulum. The proposed controllers for selferecting rotary inverted pendulum system is simulated by using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 microcontroller. Keywords— LQR control, hybrid control, rotary inverted pendulum, self-erecting.
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