Nonlinear control of swing-up inverted pendulum

摘要

This paper presents plant modeling, analysis, and nonlinearcontrol design and implementation for swing-up, pendulum regulation, andarm tracking of a rotational inverted pendulum plant. For the idealcase, the equilibrium states are characterized. It is shown, forexample, that the pendulum cannot be kept at a fixed angle above thehorizontal except in a vertical position. The control design centers onthe pendulum regulation and arm tracking controllers. A sliding mode anda variable-gain PID controllers are chosen for regulation and tracking.Due to the strong coupling of the arm and pendulum dynamics, a 2DOFcontrol configuration was used. A simple technique was used to swing-upthe pendulum to within the region of attraction of the regulationcontroller. Results of computer simulations and laboratory photos arepresented