Robust Stabilizing Controller Design for Inverted Pendulum System

2014 ◽  
Vol 71 (1) ◽  
Author(s):  
Hazem I. Ali
Keyword(s):  
Steady State ◽  
Time Domain ◽  
State Feedback ◽  
Inverted Pendulum ◽  
Controller Design ◽  
H Infinity ◽  
Pendulum System ◽  
Stabilizing Controller ◽  
Inverted Pendulum System ◽  
System Uncertainties

In this paper the design of robust stabilizing state feedback controller for inverted pendulum system is presented. The Ant Colony Optimization (ACO) method is used to tune the state feedback gains subject to different proposed cost functions comprise of H-infinity constraints and time domain specifications. The steady state and dynamic characteristics of the proposed controller are investigated by simulations and experiments. The results show the effectiveness of the proposed controller which offers a satisfactory robustness and a desirable time response specifications. Finally, the robustness of the controller is tested in the presence of system uncertainties and disturbance.

scholarly journals Robust Full State Feedback Controller Design Using H∞ for Inverted Pendulum System

2018 ◽  
pp. 39-48
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Upright Position ◽  
Feedback Controller ◽  
Pendulum System ◽  
Integral Term ◽  
Inverted Pendulum System ◽  
Full State ◽  
Full State Feedback

This paper presents the design of a full state feedback H∞ controller to an inverted pendulum system. The nonlinear and linearized models of the system are obtained. The main goal of the proposed controller is to maintain the pendulum in the upright position and achieve a desirable tracking for the cart position. To achieve desirable tracking properties an integral term is added. The robustness of the proposed controller is examined when a 20% variation in the parameters of system is considered.

scholarly journals T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Boutaina Elkinany ◽  
Mohammed Alfidi ◽  
Redouane Chaibi ◽  
Zakaria Chalh
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Pendulum System ◽  
Great Ability ◽  
Control Approach ◽  
Feedback Model ◽  
Inverted Pendulum System ◽  
System Controller ◽  
Fuzzy State

This article provides a representation of the double inverted pendulum system that is shaped and regulated in response to torque application at the top rather than the bottom of the pendulum, given that most researchers have controlled the double inverted pendulum based on the lower part or the base. To achieve this objective, we designed a dynamic Lagrangian conceptualization of the double inverted pendulum and a state feedback representation based on the simple convex polytypic transformation. Finally, we used the fuzzy state feedback approach to linearize the mathematical nonlinear model and to develop a fuzzy controller H ∞ , given its great ability to simplify nonlinear systems in order to reduce the error rate and to increase precision. In our virtual conceptualization of the inverted pendulum, we used MATLAB software to simulate the movement of the system before applying a command on the upper part of the system to check its stability. Concerning the nonlinearities of the system, we have found a state feedback fuzzy control approach. Overall, the simulation results have shown that the fuzzy state feedback model is very efficient and flexible as it can be modified in different positions.

The Robust Control Research for Non-Linear Inverted Pendulum System in Mechanical Industry

2013 ◽  
Vol 675 ◽  
pp. 31-34
Author(s):  
Hong Xing Li ◽  
Yong Xin Zhang
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Uncertain System ◽  
Paper Analysis ◽  
Pendulum System ◽  
Numerical Examples ◽  
Inverted Pendulum System ◽  
Non Linear ◽  
Control Research ◽  
Sufficiency Conditions

Inverted pendulum system is a non-linear，natural instability and uncertain system. As a controlled objects of control system in mechanical industry, it can be analysis and verification by different control theory and methods. The paper analysis the non-linear inverted pendulum system, then deduces sufficiency conditions of the existence of controller with state feedback. It utilizes standard digital software to get the answer. The feasibility and robustness is demonstrated by numerical examples.

scholarly journals Integrated SolidWorks and Simscape platform for the design and control of an inverted pendulum system

2020 ◽  
Vol 71 (2) ◽  
pp. 122-126
Author(s):  
Ahmed Alkamachi
Keyword(s):  
Inverted Pendulum ◽  
Controller Design ◽  
State Feedback Control ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Control Scheme ◽  
Implicit System ◽  
Physical Elements ◽  
And Control ◽  
The Mathematical Model

AbstractA single inverted pendulum on a cart (SIPC) is designed and modeled physically using SolidWorks. The model is then exported to the Simulink environment to form a Simscape model for simulation and test purposes. This type of modeling uses a physical grid tactic to model mechanical structures. It requires connection of the physical elements with physical signal converter to define the implicit system dynamics to be modeled. The integration between the SolidWorks and Simscape eliminates the need of deriving the mathematical model and provides a platform for the rapid controller design for the system. State feedback control scheme is proposed, designed, and tuned aiming to maintain the pendulum in the upright place while tracking the desired cart position. Several simulation cases are studied to prove the controller abilities. In order to examine the controller robustness, disturbance rejection and noise attenuation capabilities are also discovered.

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