scholarly journals CONTROL OF THE TWO DoF INVERTED PENDULUM

2014 ◽  
Vol 4 (2) ◽  
Author(s):  
M. Fajar
Keyword(s):  
Control Strategy ◽  
Inverted Pendulum ◽  
Multibody System ◽  
Pole Placement ◽  
Pendulum System ◽  
System A ◽  
Inverted Pendulum System ◽  
Feedback Method ◽  
And Control ◽  
Pole Placement Control

This paper describes how to simulate and control the two DoF inverted pendulum system, a dynamics of multibody system. The control strategy used is based on the conventional feedback method for the stabilisation of the two DoF inverted pendulum system. Simulation study has been done shows that conventional method i.e. pole placement control strategy is capable to control multi input and multi output of the two DoF inverted pendulum system successfully. The result shows that pole placement control strategy gives satisfactory response that is presented in time domain.

Exquisite disturbance attenuation control for a rotary inverted pendulum

2016 ◽  
Vol 40 (3) ◽  
pp. 812-818 ◽  
Author(s):  
Shuaipeng He ◽  
Chuanlin Zhang ◽  
Ning Yang ◽  
Hui Li
Keyword(s):  
Inverted Pendulum ◽  
Disturbance Attenuation ◽  
Control Performance ◽  
Pendulum System ◽  
Nonlinear Disturbance Observer ◽  
System A ◽  
Inverted Pendulum System ◽  
Nonlinear Disturbance ◽  
Simulation Results ◽  
Rotary Inverted Pendulum

This paper investigates the problem of active disturbance attenuation control for a rotary inverted pendulum system. A nonlinear disturbance observer is first constructed to estimate the lumped disturbances, and then a feedback domination technique is integrated to handle the nonlinearities in a novel step-by-step way. Hence an exquisite composite controller can be constructed with strong robustness while the nominal control performance can be maintained. By utilizing a recursive stability analysis based on a Lyapunov function, the effectiveness of the proposed controller is assured. Numerical simulation results demonstrate the effectiveness of the proposed algorithm.

scholarly journals Modelling of Classical and Rotary Inverted Pendulum Systems – A Generalized Approach

2013 ◽  
Vol 64 (1) ◽  
pp. 12-19 ◽  
Author(s):  
Slávka Jadlovský ◽  
Ján Sarnovský
Keyword(s):  
Program Implementation ◽  
Inverted Pendulum ◽  
General Procedure ◽  
Simulation Models ◽  
Open Loop ◽  
Dissipation Function ◽  
Lagrange Equations ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Rotary Inverted Pendulum

The purpose of this paper is to present the design and program implementation of a general procedure which yields the mathematical model for a classical or rotary inverted pendulum system with an arbitrary number of pendulum links. Lagrange equations of the second kind with an integrated Rayleigh dissipation function are employed in model design, and the energetic balance relations, derived for the base and all pendulum links in a generalized (n-link) classical and rotary inverted pendulum system, are implemented in form of symbolic MATLAB functions and a MATLAB GUI application. The validity and accuracy of motion equations generated by the application are demonstrated by evaluating the open-loop responses of simulation models of classical double and rotary single inverted pendulum.

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