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Optimal-Robust Controller Applied to an Inverted Pendulum-Cart System: A Graphic Performance Analysis

Abstract:

In this work a performance graphic analysis approach based on radar charts for an optimal-robust controller with different switching functions is presented. For purpose of taking an overall performance criteria of control algorithm, this graphic analysis is used. The stabilization of the Car-Pendulum System is performed through the optimal-robust controller based on the Variable Structure Control (VSC) and the Linear Quadratic Regulator (LQR) as sliding surface. Different chattering reduction methods are tuned by using Particle Swarm Optimization (PSO) methodology. The performance based on radar graphs are performed using ISE, IAE, and TV indexes through initial conditions, disturbances and uncertain parameter tests by simulations.