Minimum time swing-up controller applied to a rotary inverted pendulum

摘要

This work presents the results of a swing-up controller applied to a Quanser rotary inverted pendulum simulated in Matlab. The objectives were to invert the pendulum in minimum time and to obtain a final position and velocity that could be stabilized in the inverted position. The controller's parameters were tuned using a genetic algorithm specially designed for this task. During the simulation tests, the pendulum was inverted with just one swing, completed in 0.42[s], and stabilized with a voltage smaller than |1|[V]. These results show a smoother inversion completed in less time than the results obtained in related works.