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A new controller for the inverted pendulum on a cart
Author(s) -
Gordillo F.,
Aracil J.
Publication year - 2008
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1300
Subject(s) - inverted pendulum , swing , control theory (sociology) , cart , controller (irrigation) , bounded function , control (management) , computer science , double inverted pendulum , law , mathematics , engineering , physics , nonlinear system , artificial intelligence , political science , mathematical analysis , mechanical engineering , biology , agronomy , quantum mechanics
This paper presents a complete solution to the problem of swinging‐up and stabilization of the inverted pendulum on a cart, with a single control law. The resulting law has two parts: first, an energy‐shaping law is able to swing and maintain the pendulum up. Then, the second part introduces additional control to stop the cart and it is based on forwarding control with bounded input. The resulting control law is the sum of both parts and does not commute between different laws although there exist switches inside the controller. Copyright © 2008 John Wiley & Sons, Ltd.