Model and control algorithm construction for rotary inverted pendulum in laboratory
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16151036@student.hcmute.edu.vnKeywords:
Rotary inverted pendulum, LQR algorithm, Swing up, Furuta method, balancing controlAbstract
A rotary inverted pendulum is a popular and basic model in control theory. However, the price of this model is remarkably expensive and unsuitable for laboratory equipping in a limited condition of Vietnam. Recent self-created models do not satisfy the requirement in model parameters. It causes that the control designing method that is based on system parameters cannot be designed well. The paper proposes steps to create an inexpensive and easy-to-make rotary inverted pendulum for control laboratories in the condition of Vietnam. The model is clear in dynamic structure, system parameters. And the ability of the system in training in laboratories is proven by applying controllers which are designed through dynamic equations. Then, the survey on controllers-swing up and balancing- and system responses will show the effectiveness of this real model. The balancing LQR controller is selected and the swing-up controller is Furuta methods.
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