State Dependent Switching Control for Inverted Pendulum

Authors:	Yamakawa Satoko, Toyo University, Japan Yamada Atsushi, Nagoya Institute of Technology, Japan Fujimoto Hideo, Nagoya Institute of Technology, Japan
Topic:	2.3 Non-Linear Control Systems
Session:	Inverted Pendulum Control
Keywords:	Switching control, Energy dependence, Inverted pendulum, Lyapunov function

Abstract

A switching control strategy for inverted pendulum systems is proposed based on the energy function and its transitions. We deal with a simplified second order model of cart-pendulum systems. Assume a virtual energy whose potential energy has an opposite sign. Paying attention to the motions of the pendulum, the energy changes are analyzed theoretically. According to these analyses, the conditions of a simple switching controller are derived and the stability of the switching controlled system is guaranteed. The role of the parameters in controllers is examined in numerical simulations.