Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Design of a Swing Up Controller for Inverted Pendulum System

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  • Kwon, Yo-Han (Dept. of Electrical Engineering, Korea University) ;
  • Choi, Won-Ho (Dept. of Electrical Engineering, Korea University) ;
  • Kim, Beom-Soo (Dept. of Electrical Engineering, Korea University) ;
  • Lim, Myo-Taeg (Dept. of Electrical Engineering, Korea University)
  • 권요한 (고려대학교 전기공학과) ;
  • 최원호 (고려대학교 전기공학과) ;
  • 김범수 (고려대학교 전기공학과) ;
  • 임묘택 (고려대학교 전기공학과)
  • Published : 1999.11.20
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Abstract

In experiment, a real inverted pendulum system has state constraints and limited amplitude of input. These problems make it difficult to design a swing-up controller. To overcome these problems, we design a sliding mode controller considering physical behaviour of the inverted pendulum system. This sliding mode controller uses a switching control action to converge along a specified path derived from energy equation from a state around the path to desired states(standing position). And optimal control method is used to guarantee stability at unstable equilibrium position. The designed controller can be applied to all inverted pendulum systems regardless of the values of their parameters. Compared with previous existing controllers, it is simple and easy to tune. Experimental results are given to show the effectiveness of this controller.

Keywords