Numerical and experimental investigation for swing-up control of an inverted pendulum using Arduino microcontroller

M. M. Donatoni; F. R. Chavarette; E. Preto; D. C. J. Karmouche

doi:10.15282/jmes.18.2.2024.4.0791

Authors

M. M. Donatoni Faculty of Engineering of Ilha Solteira, Universidade Estadual Paulista, 15385-000 Ilha Solteira, São Paulo, Brazil. Phone: +55 (18) 3743-1085; Fax: +55 (18) 3743-1085
F. R. Chavarette Institute of Chemistry, Universidade Estadual Paulista, 14800-060 Araraquara, São Paulo, Brazil
E. Preto Faculty of Engineering of Ilha Solteira, Universidade Estadual Paulista, 15385-000 Ilha Solteira, São Paulo, Brazil. Phone: +55 (18) 3743-1085; Fax: +55 (18) 3743-1085
D. C. J. Karmouche Faculty of Engineering of Ilha Solteira, Universidade Estadual Paulista, 15385-000 Ilha Solteira, São Paulo, Brazil. Phone: +55 (18) 3743-1085; Fax: +55 (18) 3743-1085

DOI:

https://doi.org/10.15282/jmes.18.2.2024.4.0791

Keywords:

Inverted Pendulum, Swing-up, LQR, Nonlinear Control, Microcontroller, Arduino

Abstract

The Inverted Pendulum is a classic control problem, it has non-linear dynamics, is underactuated and naturally unstable. Thus, the development of a system capable of controlling it goes through challenges such as modeling, design requirements and implementation of the control hardware. This work proposes the swing-up of the linear inverted pendulum using energy method with adjustable parameters, followed by its stabilization by an LQR controller. This work demonstrates how the system can be implemented using an Arduino microcontroller for acquisition of state variables and control commands. Furthermore, as a highlight, the implemented algorithm indicates a way to stabilize the sampling frequency, making the derivative process stable in the applied hardware, making control optimized. The applied method was efficient to perform the swing-up, consistent with the simulations and as effective as what is seen in the literature.

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