Document Type : Research Paper


Anna University, Department of Electrical and Electronics Engineering, TamilNadu, India


This paper proposes an approach for the minimum time swing up
of a rotary inverted pendulum. Our rotary inverted pendulum is supported by
a pivot arm. The pivot arm rotates in a horizontal plane by means of a servo
motor. The opposite end of the arm is instrumented with a joint whose axis
is along the radial direction of the motor. A pendulum is suspended at the
joint. The task is to design a controller that swings up the pendulum, keeps
it upright and maintains the arm position. In the general intelligent hybrid
controller, a PD controller with a positive feedback is designed for swinging up
and a fuzzy balance controller is designed for stabilization. In order to achieve
the swing up in a minimal time, a controller named Minimum Time Intelligent
Hybrid Controller is proposed which is precisely a PD controller together with
a pulse step controller for swinging up along with the fuzzy balance controller
for stabilization. The impulsive control action is tuned by trial and error
to achieve the minimum-time swing-up. An energy based switching control
method is proposed to switch over from swing up mode to stabilization mode.
Extensive computer simulation results demonstrate that the swing up time
of the proposed minimum-time controller is significantly less than that of the
existing general hybrid nonlinear controller.


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