A Switched Control Strategy for Swing-Up and State Regulation for the Rotary Inverted Pendulum

Abstract

The rotary inverted pendulum (RIP) is an underactuated mechanical system that can be balanced in the upward position, by applying the linear control theory based on a nonlinear dynamical model linearized around that position. Its structure makes it possible to implement controllers designed for energy minimization in the non-linearizable region. Due to the limited validity of the resulting linear model, a nonlinear control is needed to automatically move the pendulum close to the linearized region, starting from its stable downward position. A RIP platform has been built to experimentally test a switched control strategy design, which combines an energy-based nonlinear controller for swinging up the pendulum and a linear quadratic regulator for the balancing task. Experimental results validate the performance of this approach on the physical prototype.

Generalized State-Feedback Controller Synthesis for Underactuated Systems through Bayesian Optimization

“…Then, r corresponds to the arm radius that has a moment of inertia I a , introducing a counterweight of mass m c that takes the center of the mass of the rotating arm at height h. Consider the rotation angle of the arm to be given by θ 0 . A detailed description of parameters involved in the model along with its values for the physical prototype is shown in Table I, that comes from a phenomenological analysis and matches the physical prototype documented on [39].…”

Modelling and Simulation of Solar-Thermal DH Systems

“…Also, individual rooms may have simple On/Off controllers (i.e. thermostat) (Solis et al, 2019). Figure 9 depicts a simple On/Off controller strategy that has been simulated and implemented in this project.…”