Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum

Ammar Al-Jodah; Hassan Zargarzadeh; Maythem K. Abbas

doi:10.1109/ICCSCE.2013.6720001

Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum

Ammar Al-Jodah
, Hassan Zargarzadeh
, Maythem K. Abbas

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

14 Citations (Scopus)

Abstract

This paper focuses on implementation of swing-up, switching and stabilizing controllers for rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H₂/H_∞ state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip^®.

Original language	English
Title of host publication	Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	417-423
Number of pages	7
ISBN (Print)	9781479915088
DOIs	https://doi.org/10.1109/ICCSCE.2013.6720001
Publication status	Published - 2013
Externally published	Yes
Event	IEEE International Conference on Control System, Computing and Engineering 2013 - Penang, Malaysia Duration: 29 Nov 2013 → 1 Dec 2013 https://ieeexplore.ieee.org/xpl/conhome/6709841/proceeding (Proceedings)

Conference

Conference	IEEE International Conference on Control System, Computing and Engineering 2013
Abbreviated title	ICCSCE 2013
Country/Territory	Malaysia
City	Penang
Period	29/11/13 → 1/12/13
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6709841/proceeding (Proceedings)

Keywords

dsPIC
Embedded microcontroller
Mixed H2/H
Rotary inverted pendulum

Access to Document

10.1109/ICCSCE.2013.6720001

Cite this

Al-Jodah, A., Zargarzadeh, H., & Abbas, M. K. (2013). Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum. In Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013 (pp. 417-423). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICCSCE.2013.6720001

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title = "Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum",

abstract = "This paper focuses on implementation of swing-up, switching and stabilizing controllers for rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H2/H∞ state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip{\textregistered}.",

keywords = "dsPIC, Embedded microcontroller, Mixed H2/H, Rotary inverted pendulum",

author = "Ammar Al-Jodah and Hassan Zargarzadeh and Abbas, \{Maythem K.\}",

note = "Copyright: Copyright 2014 Elsevier B.V., All rights reserved.; IEEE International Conference on Control System, Computing and Engineering 2013, ICCSCE 2013 ; Conference date: 29-11-2013 Through 01-12-2013",

year = "2013",

doi = "10.1109/ICCSCE.2013.6720001",

language = "English",

isbn = "9781479915088",

pages = "417--423",

booktitle = "Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

url = "https://ieeexplore.ieee.org/xpl/conhome/6709841/proceeding",

}

Al-Jodah, A, Zargarzadeh, H & Abbas, MK 2013, Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum. in Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013. IEEE, Institute of Electrical and Electronics Engineers, pp. 417-423, IEEE International Conference on Control System, Computing and Engineering 2013, Penang, Malaysia, 29/11/13. https://doi.org/10.1109/ICCSCE.2013.6720001

Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum. / Al-Jodah, Ammar; Zargarzadeh, Hassan; Abbas, Maythem K.
Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013. IEEE, Institute of Electrical and Electronics Engineers, 2013. p. 417-423.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

TY - GEN

T1 - Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum

AU - Al-Jodah, Ammar

AU - Zargarzadeh, Hassan

AU - Abbas, Maythem K.

PY - 2013

Y1 - 2013

N2 - This paper focuses on implementation of swing-up, switching and stabilizing controllers for rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H2/H∞ state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip®.

AB - This paper focuses on implementation of swing-up, switching and stabilizing controllers for rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H2/H∞ state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip®.

KW - dsPIC

KW - Embedded microcontroller

KW - Mixed H2/H

KW - Rotary inverted pendulum

UR - https://www.scopus.com/pages/publications/84894214717

U2 - 10.1109/ICCSCE.2013.6720001

DO - 10.1109/ICCSCE.2013.6720001

M3 - Conference Paper

AN - SCOPUS:84894214717

SN - 9781479915088

SP - 417

EP - 423

BT - Proceedings - 2013 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2013

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - IEEE International Conference on Control System, Computing and Engineering 2013

Y2 - 29 November 2013 through 1 December 2013

ER -

Experimental verification and comparison of different stabilizing controllers for a rotary inverted pendulum

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Keywords

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