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

Abstract

This paper presents the design and implementation of a complete control system for the swing-up and stabilizing control of an inverted pendulum. In particular, this work outlines the effectiveness of a particular swing-up method, based on feedback linearization and energy considerations. The power of modern state-space techniques for the analysis and control of Multiple Input Multiple Output (MIMO) systems is also investigated and a state-feedback controller is employed for stabilizing the pendulum. Cascade control is then utilized to reduce the complexity of the complete controller by splitting it into two separate control loops operating at well distinct bandwidths.