Swing-up and Stabilization of the Rotational Inverted Pendulum Using PD and Fuzzy-PD Controllers

The paper proposes a simplified solution of the control problem of the rotational inverted pendulum. The rotational inverted pendulum (RIP) is a complex system, widely studied in many areas due to its complexity and nonlinearities. The control strategy is divided into two subproblems, the swing-up c...

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Bibliographic Details
Published inProcedia technology Vol. 12; pp. 57 - 64
Main Author Oltean, Stelian-Emilian
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 2014
Subjects
balance control
conventional PD control
fuzzy-PD control
rotational inverted pendulum
swing-up control
rotational inverted pendulum
swing-up control
fuzzy-PD control
conventional PD control
balance control
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Summary:The paper proposes a simplified solution of the control problem of the rotational inverted pendulum. The rotational inverted pendulum (RIP) is a complex system, widely studied in many areas due to its complexity and nonlinearities. The control strategy is divided into two subproblems, the swing-up control of the pendulum using a PD cascade scheme and the balance/stabilizing control of the whole system using a fuzzy-PD regulator. The switching mode between these subproblems is also considered. The plant, the swing-up control and the stabilizing system are modeled and studied in the Matlab/Simulink environment.
ISSN:2212-0173
2212-0173
DOI:10.1016/j.protcy.2013.12.456