Hybrid control of rotary type inverted pendulum by using one-chip microcomputer

One-chip 마이크로 컴퓨터에 의한 회전형 도립 진자의 hybrid 제어

In the paper, a hybrid control approach for the swing-up control of a rotary type inverted pendulum is treated using one-chip microcomputer. The control approach is composed by a scheduling logic control for swing up control and the linear state feedback control to achieve the disired inverted-state of the pendulum. The experimental cystem has been implemented by a 16-bit one-chip microcomputer with 3096 opu as the digital controller incorporating the above mentioned control approach.