14. Using Hybrid and LQR Method Control Of A （14。）.pdf

Huu Chan Thanh Nguyen et al, / (IJCSIT) International Journal of Computer Science and Information Technologies, Vol. 2 (6) , 2011, 2548-2553. Using Hybrid And LQR Method Control Of A Self-Erecting Rotary Inverted Pendulum System Based On PIC 18F4431 Huu Chan Thanh Nguyen#1, An Wen Shen#2 #Department of Control Science And Engineering, HuaZhong University Of Science And Technology 1037 LuoYu Road, WuHan, HuBei, China Abstract— The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic II. SYSTEM SETUP AND DYNAMICS system. This paper presents hybrid control method for swing up and LQR control method for the stabilization. The flexibility of A. System setup the hybrid control method based on the selection of heuristic The physical arrangement of RIPS is shown in Fig. 1a and swing up controller and energy swing up controller at the the implement details on hardware PIC 18F4431 based design different positions of pendulum. The robustness of the LQR are provided in Fig. 2. The RIPS consists of a pendulum control method for the stabilization is tested by attaching a screw driver at the tip of pendulum. The proposed controllers for self- mounted on one end of a rotating arm. The other end of the erecting rotary inverted pendulum system is simulated by using arm is mounted on a Faulhaber direct current gear motor MATLAB-SIMULINK and implemented on an experiment shaft. The arm rotates in the horizontal plane while the sys