Comparison of PPC and LQR Controller for Stabilization of Cart Pendulum System: Simulation and Real-Time Study

2021 ◽  
pp. 1383-1392
Author(s):  
Gurminder Singh ◽  
Ashish Singla
Keyword(s):  
Real Time ◽  
System Simulation ◽  
Time Study ◽  
Pendulum System ◽  
Lqr Controller

Real-Time Swing-up and Stabilization Control of a Cart-Pendulum System with Constrained Cart Movement

2017 ◽  
Vol 18 (6) ◽  
pp. 525-539 ◽  
Author(s):  
Ashish Singla ◽  
Gurminder Singh
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Control Strategies ◽  
Pole Placement ◽  
Track Length ◽  
Control Input ◽  
Pendulum System ◽  
Lqr Controller ◽  
Pole Placement Controller ◽  
The Mathematical Model

AbstractThe cart-pendulum system is a typical benchmark problem in the control field. It is a fully underactuated system having one control input for two degrees-of-freedom (DOFs) system. It has highly nonlinear structure, which can be used to validate different nonlinear and linear controllers and has wide range of real-time (realistic) applications like rockets propeller, tank missile launcher, self-balancing robot, stabilization of ships, design of earthquake resistant buildings, etc. In this work, modeling, simulation and real-time control of a cart-pendulum system is performed. The mathematical model of the system is developed using Euler-Lagrange approach. In order to achieve a more realistic model, the actuator dynamics is considered in the mathematical model. The main aim of this work is to investigate the performance of two different control strategies- first to swing-up the pendulum to near unstable equilibrium region and second to stabilize the pendulum at unstable equilibrium point. The swing-up problem is addressed by using energy controller in which cart is accelerated by providing a force to the cart with a AC servo motor with the help of timing pulley arrangement. The initial velocity of the cart is taken into account to confirm swing-up in the restricted track length. The cart displacement in the restricted track length is verified by simulation and experimental test-run. The regulation problem of stabilization of pendulum is addressed by developing the controller using Pole Placement Controller (PPC) and LQR Controller (LQRC). Both the control strategies are performed analytically and experimentally using the Googoltech Linear Inverted Pendulum (GLIP) setup. The analytical results, simulated in MATLAB and SIMULINK environment, are found in close agreement with the experimental results. In order to demonstrate the effect of both the stabilizing controllers on the performance of the system, comparison of the experimental results is reported in this work. It is demonstrated experimentally that LQR controller outperforms the Pole Placement controller, in terms of reduction in the oscillations of the inverted pendulum (56 %), as well as the magnitude of maximum control input (66.7 %). Further, robustness of the closed-loop system is investigated by providing external disturbances.

Eternal Today

2018 ◽  
Author(s):  
Jenni Myllykoski ◽  
Anniina Rantakari
Keyword(s):  
Real Time ◽  
Constitutive Relation ◽  
Human Agency ◽  
Fundamental Characteristic ◽  
Time Study ◽  
Software Company ◽  
Present Experience ◽  
Managerial Strategy ◽  
Over Time ◽  
Strategy Making

This chapter focuses on temporality in managerial strategy making. It adopts an ‘in-time’ view to examine strategy making as the fluidity of the present experience and draws on a longitudinal, real-time study in a small Finnish software company. It shows five manifestations of ‘in-time’ processuality in strategy making, and identifies a temporality paradox that arises from the engagement of managers with two contradictory times: constructed linear ‘over time’ and experienced, becoming ‘in time’. These findings lead to the re-evaluation of the nature of intention in strategy making, and the authors elaborate the constitutive relation between time as ‘the passage of nature’ and human agency. Consequently, they argue that temporality should not be treated merely as an objective background or a subjective managerial orientation, but as a fundamental characteristic of processuality that defines the dynamics of strategy making.

scholarly journals An in situ and real time study of the formation of CdSe NCs

Nanoscale ◽  
2020 ◽  
Vol 12 (45) ◽  
pp. 22928-22934
Author(s):  
Cristina Palencia ◽  
Robert Seher ◽  
Jan Krohn ◽  
Felix Thiel ◽  
Felix Lehmkühler ◽  
...  
Keyword(s):  
Real Time ◽  
Time Study

In situ studies are crucial to demonstrate that magic-size clusters are always intermediates in the formation of regular NCs.

scholarly journals The role of interparticle heterogeneities in the selenization pathway of Cu–Zn–Sn–S nanoparticle thin films: a real-time study

2015 ◽  
Vol 3 (27) ◽  
pp. 7128-7134 ◽  
Author(s):  
Nathaniel J. Carter ◽  
Roland Mainz ◽  
Bryce C. Walker ◽  
Charles J. Hages ◽  
Justus Just ◽  
...  
Keyword(s):  
Thin Films ◽  
Real Time ◽  
Time Study

Small (∼5 nm), Cu- and Sn-rich nanoparticles play a key role in initiating the growth of micrometer-sized Cu2ZnSn(S,Se)4 grains.

Real-Time Study of the Disequilibrium Transfer in Vanadium Flow Batteries at Different States of Charge via Refractive Index Detection

2018 ◽  
Vol 122 (50) ◽  
pp. 28550-28555 ◽  
Author(s):  
Yunong Zhang ◽  
Kaijie Ma ◽  
Xiangrong Kuang ◽  
Le Liu ◽  
Yunxu Sun ◽  
...  
Keyword(s):  
Refractive Index ◽  
Real Time ◽  
Time Study ◽  
Flow Batteries ◽  
Refractive Index Detection

Femtosecond Dynamics of Hydrogen Bonds in Liquid Water: A Real Time Study

2000 ◽  
Vol 47 (4A) ◽  
pp. 685-692 ◽  
Author(s):  
Noelle Lascoux ◽  
Guilhem Gallot ◽  
Francois Hache ◽  
Geoffrey Mitchell Gale ◽  
Savo Bratos ◽  
...  
Keyword(s):  
Hydrogen Bonds ◽  
Real Time ◽  
Liquid Water ◽  
Time Study ◽  
Femtosecond Dynamics
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