LAUSR

A control problem of an inverted pendulum in the presence of parametric uncertainty has been investigated in this paper. In particular, synthesis and implementation of an automatic self–tuning regulator for a real inverted pendulum have been given. The main cores of the control system are a swing–up control method and a stabilisation regulator. The first one is based on the energy of an inverted pendulum, whereas the second one uses the linear–quadratic regulator (LQR). Because not all of the inverted pendulum parameter values are exactly known an automatic self–tuning mechanism for designed control system has been proposed. It bases on a devised procedure for identifying parameters. The entire derived control system enables effective a pendulum swing–up and its stabilisation at an upper position. The performance of the proposed control system has been validated by simulation in Matlab/Simulink environment with the use of the inverted pendulum model as well as through experimental works using the constructed inverted pendulum on a cart.