System Identification Based Control Design for the Cart-Pole System

This paper presents a practical control approach for a cart-pole system, focusing on system identification, friction compensation, and rail limit management. First, a system model is developed, incorporating both kinetic and static friction effects. During the swing-up phase, system parameters are estimated to enhance control accuracy. An energy control method incorporating logarithmic barrier functions (LBF) is then used to swing the pole upright, ensuring the cart remains within the physical boundaries of the rail. Finally, a Linear Quadratic Regulator (LQR) is designed to stabilize the pole in the upright position. All methods are validated on a real hardware system, demonstrating the effectiveness of the proposed parameter identification and control techniques in achieving stable and safe control of the cart-pole system.