Non-linear swing-up and stabilizing control of an inverted pendulum system

Abstract

Being an underactuated mechanical system and inherently open loop unstable involving highly non-linear dynamics, the inverted pendulum is a perfect test-bed for the design of a wide range of classical and contemporary control techniques. This thesis studies the design and implementation of a complete control system for the swing-up and stabilizing control of an inverted pendulum system. In particular, this project outlines the effectiveness of feedback linearization, for the control of a particular class of non-linear systems called, input state linearizable or minimum phase systems. It also investigates the versatility of modern state-space control and its power when dealing with Multiple Input Multiple Output (MIMO) systems. The practicability of cascade control, employed to reduce the complexity of a large control system by splitting it into two or more simpler control loops operating at well-distinct bandwidths is also investigated.