Swing-Up and Stabilization Control of an Inverted Pendulum without Dynamic Model : A Feedback Gain Tuning by Iterative Trials

A feedback gain tuning method is proposed to stabilize an inverted pendulum which has the structure applicable to iterative trial movements. This tuning algorithm is composed of the Complex Method and has the following features: (1)It does not need the dynamic model of controlled system. But if the model is available, the tuning convergence becomes improved. (2)It tunes the feedback gain under an arbitrary performance index and is applicable to both the linear and the nonlinear control law. (3)The algorithm is concise and the number of adjusting parameters to be decided by the operator is least. (4)The tuning convergence is fast and the on-site tuning for real system is possible. It is also effectively confirmed by the experiments using both the simulation and the real system that the proposed tuning method has good features mentioned above.