Swing-Up and Stabilization Control of an Inverted Pendulum for Robotic and Mechatronic Applications

Abstract

The inverted pendulum system is a classic test-bed problem in control systems used extensively to analyze novel stabilization methods. Some of the previously used approaches were feedback control, fuzzy logic control, sliding mode control, model predictive control, and PID/PD control. These approaches showed increased robustness, however, they also had limitations such as chattering, limited stability, and sensitivity to model uncertainty. In this study, the energy-based collocated partial feedback linearization control along with the Linear Quadratic Regulator (LQR) for stabilization of the inverted pendulum swingup will be investigated. The approach will involve creating the mathematical model of the inverted pendulum based on EulerLagrange equations, performing state space linearization, and implementing the design digitally using MATLAB/Simulink software. The simulation results show successful swing-up and stabilization of the pendulum, with a stable response, less oscillations, and reduced settling time. The proposed approach showed high robustness. Some potential application areas of the energy-based and LQR controllers are robotics (self-balancing robots and humanoids), aerospace vehicles (attitude and launch vehicle stabilization), and transportation systems (segways and self-balancing transport)