Combining Passivity-Based Control and Linear Quadratic Regulator to Control a Rotary Inverted Pendulum

Minh-Tai Vo (1. School of Science, Engineering, and Technology, Royal Melbourne Institute of Technology, Ho Chi Minh City, Vietnam. 2. Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh city University of Technology, VNU-HCMC, Ho Chi Minh City,)
Van-Dong-Hai Nguyen (Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City, Vietnam)
Hoai-Nghia Duong (School of Engineering, Eastern International University, Binh Duong Province, Vietnam)
Vinh-Hao Nguyen (Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Technology, VNU-HCM, Ho Chi Minh City, Vietnam)

Journal of Robotics and Control (JRC)
Vol 4, No 4 (2023)

In this manuscript, new combination methodology is proposed, which named combining Passivity-Based Control and Linear Quadratic Regulator (for short, CPBC-LQR), to support the stabilization process as the system is far from equilibrium point. More precisely, Linear Quadratic Regulator (for short, LQR) is used together with Passivity-Based Control (for short, PBC) controller. Though passivity-based control and linear quadratic regulator are two control methods, it is possible to integrate them together. The combination of passivity-based control and linear quadratic regulator is analyzed, designed and implemented on so-called rotary inverted pendulum system (for short, RIP). In this work, CPBC-LQR is validated and discussed on both MATLAB/Simulink environment and real-time experimental setup. The numerical simulation and experimental results reveal the ability of CPBC-LQR control scheme in stabilization problem and achieve a good and stable performance. Effectiveness and feasibility of proposed controller are confirmed via comparative simulation and experiments.