Design of controller for inverted pendulum

Abstract

Based on the Lyapunov stability theorem, an adaptive controller is proposed for the inverted pendulum in this paper. The design of the robust controller can be used to suppress the uncertainties. The simulation results of inverted pendulum control have demonstrated the feasibility of the proposed method. Key ords--ya uno stability ada ti e control in erted endulu

An optimal adaptive hybrid controller for a fourth-order under-actuated nonlinear inverted pendulum system

“…Actually, the inverted pendulum systems family has been widely utilized for verifying different control methods because of their characteristics. The works of Zhong and Rock (2001), Chen and Wen (2010), Harrison (2003), Huang and Huang (2000), Mahmoodabadi et al (2013), Wang (2011, 2012 ), Cui et al (2015) and Su et al (2018) are some among all the papers considering the inverted pendulum system. Huang and Huang (2000) stabilized an inverted pendulum by means of the hybrid prediction model containing a proportional plus derivative controller.…”

“…Harrison (2003) controlled the inverted pendulum as a benchmark system through a linear quadratic optimal control technique. An adaptive control method was applied by Chen and Wen (2010) to stabilize the same system based on the Lyapunov theory. This system was also controlled through both PID controller and SMC method by Wang (2011, 2012).…”

Pareto optimum control of a 2-DOF inverted pendulum using approximate feedback linearization and sliding mode control

“…Because of such characteristics, an inverted pendulum is used as a benchmark system for evaluating different control methods. Hence, different types of the inverted pendulum system have been taken into consideration by researchers in the control field (Chen and Wen, 2010;El-Hawwary et al, 2006;Harrison, 2003;Huang and Huang, 2000;Mahmoodabadi et al, 2013b;Siuka and Scho¨berl, 2009;Tao et al, 2008;Walker et al, 1991;Wang, 2011Wang, , 2012, are only 10 among all the papers considering the inverted pendulum system). A double inverted pendulum by the approach of feedback linearization was controlled by Walker et al (1991).…”

“…Siuka and Scho¨berl (2009) showed the applications of energy-based control methods for the inverted pendulum on a cart. An adaptive controller was proposed for the inverted pendulum based on the Lyapunov stability theory by Chen and Wen (2010). Wang (2011) and ( 2012) used PID and sliding mode control to stabilize the inverted pendulum system, respectively.…”