Swing-up and balancing control of an inverted pendulum mechanism

This video presents swing-up and balancing control for a pole-on-cart mechanism (inverted pendulum configuration).

The swing-up of the system from the stable downward position to the unstable upright position is accomplished by an energy-based controller, which takes into account the finite length of the cart travel along the linear guide.

A linear state feedback controller, designed using LQR techniques, is employed for balancing the pole at the unstable upright position.

The controllers have been developed as a Simulink block, running under the WinCon real-time extension at a 1kHz rate.

The pole-on-cart mechanism was developed by K. Mouratis, as part of his undergraduate final year project (2013).

Control Systems Laboratory
Electrical Engineering Dept.
Technological Educational Institute of Crete
Heraklion, Greece.

Видео Swing-up and balancing control of an inverted pendulum mechanism канала HMU-CSRL