Control of a Pendulum under Torque Limitation (Swinging-up Control by Intelligent Controller)

Zhou and his co-workers proposed an “intelligent controller” that simulates the control behavior of a human operator. The controller has multiple control modes to simulate a human operator switching several control actions according to the state of a target plant. In this paper, we discuss an application of the intelligent controller to swing up a one-link pendulum under driving torque limitation. To design the controller, we examine the action of a human operator who controls the swing-up motion of a one-link pendulum, and obtain three control modes with six parameters. Then the parameters are adjusted using a pendulum simulation system. The experimental results show that the designed controller achieves successful swing-up control even if the plant parameters are changed.