2019 journal article
Real-time implementation and analysis of a modified energy based controller for the swing-up of an inverted pendulum on a cart
EUROPEAN JOURNAL OF CONTROL, 50, 176–187.
author keywords: Inverted pendulum; Energy based control; Lyapunov functions; Real-time implementation
TL;DR:
A modified energy based swing-up controller using Lyapunov functions is derived using a more complex dynamical model for the single inverted pendulum (SIP) system than the simplified model that is most commonly used.
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UN Sustainable Development Goal Categories
7. Affordable and Clean Energy
(OpenAlex)
11. Sustainable Cities and Communities
(Web of Science)
Source: Web Of Science
Added: December 9, 2019
In this paper we derive a modified energy based swing-up controller using Lyapunov functions. During the derivation, all effort has been made to use a more complex dynamical model for the single inverted pendulum (SIP) system than the simplified model that is most commonly used. We consider the electrodynamics of the DC motor that drives the cart, and incorporate viscous damping friction as seen at the motor pinion. Furthermore, we use a new method to account for the limitation of having a cart-pendulum system with a finite track length. Two modifications to the controller are also discussed to make the method more appropriate for real-time implementation. One of the modifications improves robustness using a modified Lyapunov function for the derivation, while the other one incorporates viscous damping as seen at the pendulum axis. We present both simulation and real-time experimental results implemented in MATLAB Simulink.
