Switching Control for Inverted Pendulum System Based on Energy Modification

Atsushi Yamada; Satoko Yamakawa; Hideo Fujimoto

doi:10.11499/sicep.2004.0_41_4

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_41_4

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Switching Control for Inverted Pendulum System Based on Energy Modification

*Atsushi Yamada, Satoko Yamakawa, Hideo Fujimoto

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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 41

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Abstract

For stabilizing an inverted pendulum system, a switching control law is proposed. It is based on a modified energy such that the potential energy is minimum in upright position. Paying attention to the transition of the modified energy, the stability of the switching controlled system can be ensured. Simultaneously, the control parameters and the switching conditions are shown.

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