Non-linear controller for stabilisation control of a cart-type inverted pendulum system Online publication date: Wed, 18-Mar-2015
by Tomohiro Henmi; Mingcong Deng; Akira Inoue
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 3, No. 3, 2011
Abstract: This paper discusses a stabilisation control of a cart-type inverted pendulum system (CIPS). In general, a state feedback controller with linear approximation of the pendulum around its equilibrium point is used for this control and it can not guarantee stability and needs large amounts of a control input in case a control is started at system's states away from the equilibrium point. Then, in this paper, a new non-linear controller which guarantees stabilising for widespread states of the systems is proposed. In the proposed controller, at first, we designed a reference function for the angular position of the pendulum by analysing a necessary movement of the cart to keep any angle of the pendulum (Step 1). And, a tracking controller which can track pendulum to the reference angular position decided in Step 1 is designed by partial linearisation method (Step 2). Simulation results are given to show the effectiveness of the proposed controller.
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