Linear State Feedback Regulation of a Furuta Pendulum: Design Based on Differential Flatness and Root Locus

Abstract

Different educational and didactic papers that allow students to experimentally validate linear controllers have been reported. However, generally, in those papers, procedure followed to select controller gains is not discussed. This lack of information renders difficult experimental implementation of controllers by students who, in general, do not have enough experience on controller tuning. Motivated by this situation, this paper introduces a methodology that provides important information on how to select controller gains for regulation in a Furuta pendulum. This methodology allows improving closed-loop system performance in a desired direction. Differential flatness is the Furuta pendulum property that is exploited. The main idea is to translate a linear state feedback control design problem into a scenario, where classical tools such as root locus can be used. As an example, controller design is directed toward reduction or even elimination of limit cycle effects. The proposal is experimentally tested on a built Furuta pendulum. These experimental results show that the closed-loop system performance is improved, and hence, the proposed methodology is successfully validated.