Abstract
This paper investigates the weakness of feedback controller to find the best parameter of PID controller of a nonlinear inverted pendulum system (NL-IPS). Stability and performance analysis of a NL-IPS are carried out with combination of feedback and PID controllers. It is found that the NL-IPS which was stabilized by feedback controller provides some weakness. By addition of PID controller on closed loop NL-IPS will provide better tracking and response on zero steady state error.
Highlights
One of output of a nonlinear inverted pendulum model is angle movement, as shown in Figure 1 [1]
For the class of nonlinear control system, the performance of the systems could be determined by eigenstructure of the closed loop system, if its state equation has approached and found in linear form
PID was designed using root-locus approach to get the best value of gain parameter at PID controller
Summary
One of output of a nonlinear inverted pendulum model is angle movement, as shown in Figure 1 [1]. A problem solving method for a nonlinear inverted pendulum plant is displayed, which is to design a single nonlinear feedback control law in such a way combined with proportional-integral-derivative so that a nonlinear closed loop system has a stable balance system. This goal is motivated by intuition that the resulting closed loop nonlinear system performance is sensitive to variations in initial values that can be changed at any time.
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