Implementation of swinging-up and stabilizing controllers for inverted pendulum on cart system

Abstract

In this paper, an implementation of swinging-up and stabilizing controllers for an inverted pendulum on cart is presented. The energy control concept is employed to swing the inverted pendulum up to around the upright position within the assigned switching condition. After that, the stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by Coefficient Diagram Method. The experimental results show that the designed controllers can be mutually operated with acceptable efficiency. © 2008 IEEE.