Optimal control for balancing a rotary inverted pendulum: An experimental setting

DANIEL HERRERA; MATÍAS MONLLOR; RICARDO CARELLI; JAN CARSTENSEN; BERNARDO WAGNER

Mar del Plata

Workshop; XVII Reunión de Trabajo en Procesamiento de la Información y Control - RPIC 2017; 2017

ICYTE (Instituto de Investigaciones Científicas y Tecnológicas en Electrónica) que depende del CONICET y de la Universidad Nacional de Mar del Plata.

Balancing a rotary inverted pendulum (RIP) is commonly used for testing control algorithms, and the teaching of control chairs. Even when the researchers have proposed multiple model-based control designs over simulation environments, orbased on previously identified RIP systems, the practical setup of an experimental prototype has been commonly neglected because the difficulty that represents to identify a multi-variable, unstable, and highly non-linear system. This fact motivates the development of an experimental methodology to set-up aRIP system. For this, a mechanical model based on Euler-Lagrange is derived, where the inclusion of its actuator system is considered, which consists of a DC-motor model and a PD-lowlevel controller. Later, the proposed model is linearized over the non-stable equilibrium and the design of a balance control based on LQR is proposed. Finally, an experimental methodology to get the balance of an experimental RIP system based on input/output data is proposed, and its good performance is demonstrated with a RIP prototype.