3741 Inverted Pendulum Cart that Moves on the Slope by Switching Control

Abstract

In this report, we consider a problem of motion control of an inverted pendulum cart which moves along a sloping track with nonlinear characteristics. We design LQ state feedback gains around several equilibrium points. Then we calculate regions which have them in asymptotically stable. We propose the switching control system by use of LQ state feedback gains in consideration of their regions. Through numerical simulation, we investigate the feasibility of our control system which can perform a motion control of the inverted pendulum cart and which is robust against some disturbances while it moves.