Switching stabilizing controller design for an inverted pendulum system platform

Abstract

This paper reports the development and switching controller design of an in- verted 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.