Hybrid controller for swinging up inverted pendulum system

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dc.contributor.authorNundrakwang, Songmoung
dc.contributor.authorBenjanarasuth, Taworn
dc.contributor.authorNgamwiwit, Jongkol
dc.contributor.authorKomine, Noriyuki
dc.date.accessioned2026-08-06T09:53:30Z
dc.date.available2026-08-06T09:53:30Z
dc.date.issued2005-12-01
dc.description.abstractA hybrid controller for swinging up inverted pendulum system is proposed in this paper. The controller composes of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position by moving the cart back and forth until the pendulum swings up around the upright position. The second part is a servo state feedback control designed by LQR which will be switched to stabilize the inverted pendulum in its upright position. The effectiveness and reliability of the proposed hybrid controller for swinging up inverted pendulum on cart are also shown by the experimental results. © 2005 IEEE.
dc.identifier.citation2005 Fifth International Conference on Information Communications and Signal Processing, 2005, 488-492, 2005
dc.identifier.other2-s2.0-34147126456
dc.identifier.urihttps://dspace.kmitl.ac.th/handle/123456789/1106
dc.source2005 Fifth International Conference on Information Communications and Signal Processing
dc.subjectInverted pendulum
dc.subjectLinear quadratic regulator
dc.subjectPD position control
dc.subjectSwinging-up control
dc.titleHybrid controller for swinging up inverted pendulum system
dc.typeConference Paper

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