Comparative Study Of Swing-Up Controllers: Passivity-Based Swing-Up Control And Sliding Mode Technique Combined Energy-Based Method For Rotational Inverted Pendulum System

In this paper, we focus on designing a swing-up controller, namely Passivity-Based Swing-up Control (PBSC). The object we use to validate the PBSC is the Rotational Inverted Pendulum system (RIP), a well-known system in the class of underactuated systems. The key points of the design are summarized as follows: the control is based on the energy of the system, and the arm link of the RIP operates within a small range. The outcomes of this controller are compared with our previously proposed swing-up controller, named Sliding Mode Control Combined Energy-Based Method (SMCCEBM). The work is performed in both simulations using MATLAB software and experiments on the experimental testbed. The results are discussed to show that each swing-up controller has its own specific strengths. For balancing tasks, we use the Linear Quadratic Regulator (LQR) on the RIP. However, we do not revisit the LQR theory in this study, we only present the control law for the mentioned balancing control.