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DESIGN OF INTELLIGENT HYBRID CONTROLLER FOR SWING-UP AND STABILIZATION OF ROTARY INVERTED PENDULUM

A hybrid controller for swinging up rotary inverted pendulum is proposed in this paper. The controller composes of two parts. The first part is the PD position control to swing up the pendulum from its hanging position by moving the rotary arm clockwise and anticlockwise repeatedly until the pendulum swings up around the upright position. The second part is a Fuzzy Logic Controller which will be switched to balance and stabilize the pendulum at its upright position. State feed back control designed by LQR is also done for stabilization of the pendulum. The proposed intelligent hybrid controller is compared with the conventional controller; the effectiveness and reliability are shown by the simulation results.