Heuristic Controller Design for Inverted Pendulum Using Bond Graph Approach

An inverted pendulum system is considered a benchmark problem to carry out research in control theory and robotics to test new control strategies and algorithms. As it is an under-actuated, nonlinear and unstable system, designing a controller for such a system is a highly complex task. The bond graph model of the inverted pendulum system, along with the design of a nonlinear heuristic controller for swing-up control and the PI controller as a stabilization control, i.e., non-model based or energy-based control, is applied in this work. The experimental setup of Googoltech linear inverted pendulum (GLIP) is used to validate the bond graph simulation results, and the results found are in close agreement.