Industrial Control Engineering

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Design and Implementation of Feedback Linearization based Adaptive Stabilizing Controller Coupled with Fuzzy Logic Swing-up for Pendulum on a Cart
(Addis Ababa University, 2019-11-19) Daniel, Abebe; Dereje, Shiferaw (PhD)
This thesis address an adaptive stabilizing controller for inverted pendulum on a cart based on feedback linearization coupled with an adaptive fuzzy logic based swing up controller. First feedback linearizing control signal is derived by decomposing the system into cart subsystem and pendulum subsystem. Then adaptive inverse control technique is applied to each feedback linearizing control signals. An adaptive inverse control method is used for compensation of unknown parameters of an inverted pendulum on a cart, while feedback linearization is used to cancel non-linearity in the system. The pendulum is driven from it's pendant position to inverted position using an adaptive fuzzy logic based swing up controller. When the pendulum reaches near it's inverted position, the stabilizing controller takes over the swing up controller. The MATLAB/SIMULINK simulation shows that the proposed controllers adapt to unknown mass of a cart between 0:1kg - 4kg and mass of a pendulum between 0:01kg - 4kg. The performance of the stabilizing controller on hardware experimentation under unknown mass of a cart and mass of a pendulum shows that the proposed controller is a solution to inverted pendulum stabilization problem.