scholarly journals Non-linear swing-up and stabilizing control of an inverted pendulum system

2004 ◽  
Author(s):  
M. Bugeja
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Stabilizing Control ◽  
Non Linear

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 Robust Stabilizing Control for the Electromechanical Triple-Link Inverted Pendulum System

2018 ◽  
Vol 51 (13) ◽  
pp. 314-319 ◽  
Author(s):  
Sánchez R. Bonifacio ◽  
Ordaz O. Patricio ◽  
Poznyak G. Alexander
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Stabilizing Control

The Design of Output Feedback Controller for Inverted Pendulum System

2013 ◽  
Vol 336-338 ◽  
pp. 489-492
Author(s):  
Hong Xing Li ◽  
An Shan Lu
Keyword(s):  
Output Feedback ◽  
Attitude Control ◽  
Inverted Pendulum ◽  
Control Method ◽  
Paper Analysis ◽  
Order System ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Non Linear ◽  
Sufficiency Conditions

Inverted pendulum system is a complex, non-linear and uncertain high-order system. It is a simple model of the rockets vertical attitude control and two-legged walking robot control. It is used to study and validation of different control methods. The paper analysis the non-linear inverted pendulum system, then deduces sufficiency conditions of the existence of controller with output feedback and designs controller. It utilizes MATLAB software to get the answer. The feasibility of control method and robustness of controller are demonstrated by numerical examples.

scholarly journals Design of Spatial Inverted Pendulum System

2019 ◽  
Vol 291 ◽  
pp. 02004
Author(s):  
Atilla Bayram ◽  
Firat Kara ◽  
Mehmet Nuri Almali
Keyword(s):  
Inverted Pendulum ◽  
Mechanical Equipment ◽  
Experimental Setup ◽  
Cnc Milling ◽  
Pendulum System ◽  
Mechanical Parts ◽  
Cnc Milling Machine ◽  
Inverted Pendulum System ◽  
Non Linear ◽  
Strong Representation

Pendulum-based systems which are highly non-linear and unstable have become one of the most widely studied subject of control theory. The close interest of researchers on inverted pendulum problem arises from its strong representation ability with real engineering applications. This study focuses on the design and production of an experimental setup in which a spatial inverted pendulum can be balanced by means of a planar mechanism in RRRRP configuration. A mechanism with two different motion inputs (rotational and linear) that no studies were performed on before was prototyped. This system is highly unstable and shows non-linear dynamic behavior. The mechanical parts that forms the system were manufactured by a 3D printer and a CNC milling machine. At the end of study, a four-degree of freedom spatial inverted pendulum experimental setup has been established on which the control works can be carried out, by installing the electronic and electro-mechanical equipment.

scholarly journals Kendali Linierisasi Umpan Balik pada Sistem Pendulum Terbalik

2020 ◽  
Vol 2 (2) ◽  
pp. 99-104
Author(s):  
Alfian Ma'arif
Keyword(s):  
Feedback Linearization ◽  
Inverted Pendulum ◽  
Reference Signal ◽  
Feedback Controller ◽  
System Response ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Reference Signals ◽  
Non Linear

Pada penelitian ini diterapkan pengendali linierisasi umpan balik pada sistem pendulum terbalik yang memiliki karakteristik tidak linear dan tidak stabil. Berdasarkan pada pengujian, pengendali yang diusulkan mampu untuk membuat sistem mengikuti sinyal referensi undak dan sinus. Nilai respons sistem untuk sinyal referensi undak adalah waktu naik sebesar 4,0386; waktu kestabilan sebesar 3,4656 dan overshoot sebesar 0 persen. Oleh karena itu dapat disimpulkan bahwa pengendali umpan balik linierisasi mampu untuk mengendalikan sistem pendulum terbalik mengikuti sinyal referensi.In this study, a feedback linearization controller was applied to an inverted pendulum system that has non-linear and unstable characteristics. Based on the test, the proposed controller is able to make the system follow step and sine reference signals. The system response value for the step reference signal is an increment time of 4.0386; the time of stability was 3,4656 and overshoot was 0 percent. Therefore, it can be concluded that the linearized feedback controller is able to control the inverted pendulum system following the reference signal.

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