Hybrid control design for swing up and stabilization of cart pendulum system

Abstract

This paper describes hybrid control design and implementation for swing-up and stabilization of a cart inverted pendulum system. First, energy control algorithm has been proposed for swing up of the pendulum from stable pendent position to bring it up to the upright unstable equilibrium configuration with a limited cart track length. Then, the stabilizing controller is designed to stabilize the cart inverted pendulum system at it's the upright position. Three stabilizing control method are proposed in this paper-Linear Quadratic Regulator (LQR) controller, traditional Sliding Mode Control (SMC) and Integral Sliding Mode Control (ISMC) method. The steady state and dynamic performance of the proposed controller are efficiently carried out by conducting experiments on real time system. Experimental results prove that the ISMC assures smoother and faster stabilizing response along with better robustness and fewer ripples in cart position than SMC and LQR controller.