Topic of Term

paper:
Swing up and stabilization control of cart
Inverted pendulum

Introduction
Under actuated mechanical system
Open loop unstable inherently
Highly non linear dynamics

Cart based inverted

pendulum

Dynamic model

PROPOSED CONTROL
STRATEGY

INVERTED PENDULUM

CONTR
OL
SWITC
H

STATE FEEDBACK

ENERGY CONTROL

State space model

Stabilizing controller
design
Designed a state feedback controller to

stabilize the system by applying a step input

to the cart as force.
To make design challenging, certain
specification are imposed to make the
performance of the system better.
Settling time for both output X and theta less
than 5 sec.
Rise time of X less than 0.5 sec.
Overshoot less than 20 degree

Design parameters
Given %OS=20 deg or 0.35 radian and

settling time=5sec, we found the value of the

following parameters as follows= 0.456

n= 1.78rad/sec
Closed loop dominant poles are

-0.811+j1.584 and -0.811-j1.584

Finding gain vector

We keep the damped frequency same and

moving the real part to make them faster than

real part of the dominant poles and the overall
system response becomes faster
Approximating our desired poles={-8.11
-4.055 -0.811+j1.584 -0.811-j1.584} i e
remaining poles 5 and 10 times faster than
real part of the dominant poles
Our gain vector K={-21.0855 -3.2251
-2.0191 -1.8811}

Stabilizing controller
response

Energy controller design

Swing-up controller is constructed by energy

control method lying on the principle of Total

energy shaping(TES) technique.
Design basically consists of developing a

servo system with low pass property and

using a sinusoidal reference input from the
pendulum trajectory.

Swing up control
Total mechanical energy of the pendulum is

V=1/2 mL^2*(d/dt)^2 +mgL(1-cos)

dV/dt=mL*d/dt*cos*(d^2x/dt^2)
If sign of d^2x/dt^2 =sign of d /dt*cos then

energy is increased
If sign of d^2x/dt^2 =- sign of d /dt*cos then

energy is decreased

System without controller

System with energy controller when

initial =180 degree

Response of cart with energy

controller when initial = 180 deg

Control signal to the DC motor

(energy controller)

THANK YOU