Design of a Model Following Stabilizer for Furuta Pendulum

Abstract

This paper proposes a new control design named Model-Following (MF) stabilizer. We present its design through the control of Furuta pendulum. The design steps are : (1) The artificial gravity control is applied to stabilize the pendulum model : (2) By using this stabilized model as the reference model, the model-following servo control system is designed which pays the attention mainly to state-variables having actuation (base-link angle) : (3) The non-actuated state variables (pendulum-link angle) are stabilized to follow the behaviors of the stabilized pendulum model. In simulation, the satisfactory performance can be obtained in the swinging-up and stabilization of Furuta pendulum.