A Low-Cost Inverted Pendulum System for Control System Education

An integral sliding mode controller (ISMC) which employs particle swarm optimization (PSO) algorithm to search for optimal values of the parameters of the integral sliding manifold as well as the gains of the controller is proposed in this work. We considered the swing-up and stabilization of the cart-inverted pendulum system which is assumed to be affected by uncertainties. First, we determined the swing-up and stabilization conditions of the control system by using the internal dynamics of the cart-inverted pendulum system and sliding mode dynamics. A PSO algorithm is then used to search for the optimal values of the ISMC design parameters that satisfy the stabilization condition with the aim of improving the transient performance of the control system. To mitigate the chattering phenomenon, a saturation function of the integral sliding variable was used in the discontinuous control law. Simulation results on swing-up and stabilization of the cart-inverted pendulum system revealed improvement in transient behaviour by reducing settling time (by 52.61%), overshoots (by 45.56%) and required track length for cart movement (by 68.34%).

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Application on Two Degree of Freedom Model Driven PID in Liner First-Order Inverted Pendulum

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.433-435.1000 ◽

2013 ◽

Vol 433-435 ◽

pp. 1000-1004

Author(s):

Jing Jing Shi ◽

Li Xiang Zhang ◽

Ai Qin Jiang

Keyword(s):

Control System ◽

Pid Control ◽

Inverted Pendulum ◽

Degree Of Freedom ◽

Control Technology ◽

Pendulum System ◽

First Order ◽

Model Driven ◽

Inverted Pendulum System ◽

Two Degree Of Freedom

The inverted pendulum system is a high order, strong coupling, multi-variable and absolutely unstable nonlinear system. Its optimal control has been the hotspot in the field of study. A new two degree of freedom model driven PID control system is introduced in this paper.It will state the structure of the control technology and design steps.The control technology is applied to control linear inverted pendulum in this paper. The simulation results prove that two degree of freedom model driven PID control system has the feasibility and superiority.

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Analyzing and Designing Control System for an Inverted Pendulum on a Cart

European Scientific Journal ESJ ◽

10.19044/esj.2018.v14n6p387 ◽

2018 ◽

Vol 14 (6) ◽

pp. 387 ◽

Cited By ~ 1

Author(s):

Md. Monir

Keyword(s):

Control System ◽

Inverted Pendulum ◽

Flight Simulation ◽

Design System ◽

Engineering Project ◽

Inverted Position ◽

Pendulum System ◽

Inverted Pendulum System ◽

Environment Control ◽

Model Formation

It is a collection of MATLAB functions and scripts, and SIMULINK models, useful for analyzing Inverted Pendulum System and designing Control System for it. Automatic control is a growing field of study in the field of Mechanical Engineering. This covers the proportional, integral and derivative (PID). The principal reason for its popularity is its nonlinear and unstable control. The reports begin with an outline of research into inverted pendulum design system and along with mathematical model formation. This will present introduction and review of the system. Here one dimensional inverted pendulum is analyzed for simulating in MATLAB environment. Control of Inverted Pendulum is a Control Engineering project based on the flight simulation of rocket or missile during the initial stages of flight. The aim of this study is to stabilize the Inverted Pendulum such that the position of the carriage on the track is controlled quickly and accurately so that the pendulum is always erected in its inverted position during such movements.

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Design and study of a pneumatically actuated inverted pendulum system controlled using a programmable logic controller

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651819888108 ◽

2019 ◽

Vol 234 (7) ◽

pp. 860-871

Author(s):

Marco Pontin ◽

Federico Colombo ◽

Luigi Mazza ◽

Terenziano Raparelli

Keyword(s):

Inverted Pendulum ◽

Nonlinear Models ◽

Low Cost ◽

Programmable Logic Controller ◽

Pneumatic Cylinder ◽

System Control ◽

Programmable Logic ◽

Pendulum System ◽

Control Loops ◽

Inverted Pendulum System

This article investigates an inverted pendulum on a mobile cart (mobile inverted pendulum) controlled via a programmable logic controller and actuated by a double-acting pneumatic cylinder. The study is conducted both theoretically, by modeling and simulating the entire system, and experimentally, using a specially developed test bench. Four low-cost 2/2 proportional valves are used for cylinder control. The control architecture consists of two nested control loops with proportional–integral–derivative compensators. To reduce cost, a programmable logic controller was used to manage both the system control and data acquisition. The results of the simulations carried out using linear and nonlinear models of the system were validated by comparison with those obtained experimentally.

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