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Designing an Effective Hybrid Control Strategy to Balance a Practical Inverted Pendulum System

Designing an Effective Hybrid Control Strategy to Balance a Practical Inverted Pendulum System
	© 2022 by IJETT Journal
	Volume-70 Issue-5
	Year of Publication : 2022
	Authors : Ngoc-Khoat Nguyen, Van-Nam Pham, Tran-Chinh Ho, Thi-Mai-Phuong Dao
	DOI :  10.14445/22315381/IJETT-V70I5P210

How to Cite?

Ngoc-Khoat Nguyen, Van-Nam Pham, Tran-Chinh Ho, Thi-Mai-Phuong Dao, "Designing an Effective Hybrid Control Strategy to Balance a Practical Inverted Pendulum System," International Journal of Engineering Trends and Technology, vol. 70, no. 5, pp. 80-87, 2022. Crossref, https://doi.org/10.14445/22315381/IJETT-V70I5P210

Abstract
Controlling an inverted pendulum system to be successfully balanced is one of the most conventional and significant control problems. An inverted pendulum system typically consists of a cart and a free-rotating rod. The control goal is to maintain a vertical position of the rod while the cart must be regulated to follow a given desired trajectory satisfying an acceptable tolerance. To obtain such a control objective, the system should be separated into two simultaneous control phases: rotational angle control for the rod and position one for the cart. This work mainly focuses on designing an effective control scheme for both a mathematical model and a practical prototype of the inverted pendulum system. The control methodology is a reasonable integration of two conventional PID controllers and a proper metaheuristic optimization technique, e.g., PSO (particle swarm optimization). Simulation results on the Simulink model and experiment results on the practical one demonstrate the feasibility and effectiveness of the control strategy proposed in this study.

Keywords
Inverted pendulum, PID, PSO, Scaling factors, Balancing control.

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