Performance Evaluation : Anti-windup Two-loop PID Controller for Rotary Single Inverted Pendulum

Abstract

In this paper, two loop Anti-windup PID controller is designed for Set-point tracking of Rotating arm and balancing vertical position of Pendulum of Rotary Single Inverted Pendulum. Controller ((feedback)) gains are obtained via pole placement and tuned by using the LQR technique. Comparative analysis of observer based pole placement controller, LQR and two-loop Anti-windup PID controller are experimentally illustrated. Steady-state error persists during the operation of two loop PD controller. In order to reduce this steady state error, integral term is added in controller. Due to violation of voltage constraints, an undesirable phenomena known as integral windup occurs. To overcome integral windup, Anti-windup technique (conditional integration) is used with two loop PID controller. Experimental result shows that proposed two loop Anti-windup PID controller gives better set-point tracking and a minimum steady-state error as compared to other controllers.