SWING-UP AND STABILIZATION OF ROTARY INVERTED PENDULUM

MERTL, J.; SOBOTA, J.; SCHLEGEL, M.; BALDA, P.

Abstract

This paper is focused on swinging up and stabilization of rotary inverted pendulum in the upright position. The controlled system consists of a pendulum mounted on one end of a rotating arm. The other end of the arm is mounted on a DC motor shaft. The arm rotates in the horizontal plane while the pendulum rotates in a plane that is always perpendicular to the rotating arm. On the contrary to commonly used state-space models based on torque control we rely on the simplified model with rotating arm velocity as the input of the controlled system. Firstly, the velocity control loop is tuned and then a state-space controller is designed using the pole placement technique. A controller for the pendulum swing-up is also designed. The REX Control System function blocks are used for both simulation in Matlab/Simulink and final implementation.

Coresponding author e-mail: mertlj[at]kky[dot]zcu[dot]cz

Session: Applications and Case Studies