Swing up and stabilization control experiments for a rotary inverted pendulum— An educational comparison

Abstract

This paper focuses on the swing up and stabilization control of a rotary inverted pendulum system with linear quadratic regulator (LQR), sliding mode control (SMC) and fuzzy logic control (FLC). The inverted pendulum, a popular control application exists in several forms and due to its widespread use for prototyping control schemes we present experimental results obtained on a rotary version of the pendulum. The paper develops the dynamical model and introduces the implementation of the considered schemes comparatively.