| Summary: | 博士 === 國立交通大學 === 機械工程系所 === 97 === This study presents the use of static Tustin friction model and a disturbance observer to compensate for frictional force between cart-rail and external disturbance so as to reduce the steady-state error (SSE) of a bi-axial inverted pendulum cart system (IPCS). Furthermore, a three-phase controller switching varied according to the angle of the pendulum is employed to swing-up and stabilize the IPCS. The three-phase controller contains: (1) a swing-up control to swing-up the pendulum angle from rest ( ) into ; (2) a sliding-mode with feedback linearization control for pendulum angle in the region of to double enlarge the maximum angle of operation, while the control of the position of the cart is temporarily ignored; (3) A sliding-mode control (SMC) and a control are employed in the region of to stabilize the IPCS, respectively. Experimental results reveal that the SSE of the IPCS is improved more than 6 times for SMC and 4 times for control. Finally, two methods, qualitative (experimental films) and quantitative (experimental data), are used to present, conclude and compare the control performances of SMC and control. The results also show the effectiveness and robustness of the proposed control schema.
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