Swinging up and stabilization of a real inverted pendulum
Muskinja, N.
Tovornik, B.
Fac. of Electr. Eng. & Comput. Sci., Univ. of Maribor, Slovenia;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: April 2006
Volume: 53,
Issue: 2
On page(s): 631- 639
ISSN: 0278-0046
INSPEC Accession Number: 8875922
Digital Object Identifier: 10.1109/TIE.2006.870667
Current Version Published: 2006-04-03
Abstract
The basic aim of the present work was to swing up a real pendulum from the pending position and to balance stably the pendulum at the upright position and further move the pendulum cart to a specified position on the pendulum rail in the shortest time. Different control strategies are compared and tested in simulations and in real-time experiments, where maximum acceleration of the pendulum pivot and length of the pendulum rail are limited. A comparison of fuzzy swinging algorithm with energy-based swinging strategies shows advantages of using fuzzy control theory in nonlinear real-time applications. An adaptive state controller was developed for a stabile, and in the same time optimal balancing of an inverted pendulum and a switching mechanism between swinging and balancing algorithm is proposed.
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