Designing a Switching Controller for Controlling Cart Position and Angle of an Inverted Pendulum with Disturbance

In this paper, a novel switching control method based on two switching logic contained Harris index and fuzzy supervisor in presence of disturbance is proposed for controlling a cart position and angle of an inverted pendulum. The Harris index is calculated using Markov parameters and output variance of the closed loop system. In order to show the performance of the switching logic, simultaneous usage of advantages of several different controllers in a control loop of a nonlinear systems subject to disturbance with variable power is proposed for the first time. The designing stages of proposed method include three steps. First, proper controllers including proportional–integral–derivative, linear quadratic regulator and sliding mode control have been designed. Then, Harris index and finally the fuzzy supervisor are also designed. The Harris index is determined in order to choose the proper controller as first switch logic. The fuzzy supervisor is designed to improve and supervision on performance of Harris index as second switching logic. Numerical Simulation results show that the proposed method at any moment due to changes disturbance, choose the best controller and it can reduce chattering, domain of control signal and sensitivity to disturbance.