Switching stabilizing controller design for an inverted
pendulum system platform

Switching stabilizing controller design for an inverted
pendulum system platform

Inverted pendulum
Linear quadratic regulator
Lyapunov methods
Stabilization
Switching control

This paper reports the development and switching controller design of an inverted
pendulum system (IPS) platform. The euler-lagrange approach is first
used to model the dynamics of the IPS which takes into account the impact of
friction forces during its movements. The paper then derives a switching control
method to swing the pendulum rod into the neighborhood of and stabilizing it
at the equilibrium point. The implemented switching controller consists of: i) a
nonlinear swing up control which brings the pendulum to the vertical position
and ii) a linear stabilizing control which maintains the pendulum rod to remain
in a vertical position around the neighborhood of the vertical axis. The nonlinear
controller is constructed using lyapunov’s method while the linear controller is
designed using linear quadratic regulator (LQR) method framework. Simulation
and experimental results are presented to show the effectiveness of the proposed
switching controller.

Jonathan Chandra1,2, Tua Agustinus Tamba2, Ali Sadiyoko2

Journal homepage: http://journal.uad.ac.id/index.php/TELKOMNIKA

Mar 18, 2024

PERI IRAWAN

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