Abstract
Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller algorithm for self-erecting and balancing of a rotary inverted pendulum. Approach: Research shown a convenient way to implement a real-time control in self-erecting a pendulum from downward position and balancing the pendulum in vertical-upright position. An Energy based on PD controller was applied in self-erecting of the pendulum while LQR controller was applied to balance the pendulum. Results: Results of both control techniques from computer simulation and experiment were given to show the effectiveness of these controllers. Conclusion: Both simulations and experiments were confirmed the control efficiency of the method.
Highlights
The Rotary Inverted Pendulum (RIP) is a challenging problem in the area of control systems
Some research on the balancing of rotary inverted pendulum has been done using the linear control theory[1], Control law based on energy control[3], with the use of a balancing sequence, which allows rising up the pendulum from its stable equilibrium position
The arm is rotated alternately between 0 and 50° to increase the energy of the system quickly to move the arm to its maximum allowed angle of circular of arm. In this self-erecting mode, energy based PD controller takes 4.5 sec for 5 swings which is effectively employed in the control system to obtain maximum swing in short time
Summary
The Rotary Inverted Pendulum (RIP) is a challenging problem in the area of control systems. It is made to verify the performance and demonstrating the effectiveness of control algorithm techniques. This RIP is a simple structure, multi-variable and unstable nonminimum phase system subjected to many nonlinear characteristics. It has a pendulum attached to a rotary arm instead of a moving cart The advanced of this system is that there is no end point, which makes it convenient for experimentation especially during velocity control of the arm speed. For the single inverted pendulum a simple bang-bang method as described by Astrom and Furuta[4] can be applied. This method regulates energy content in the system.
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