Robust control design for inverted pendulum system with uncertain disturbances

2016 ◽  
Author(s):  
Manish Yadav ◽  
Abhinav Kumar Gupta ◽  
Bhanu Pratap ◽  
Saurabh Saini
Keyword(s):  
Robust Control ◽  
Inverted Pendulum ◽  
Control Design ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Uncertain Disturbances ◽  
Robust Control Design

scholarly journals Design and Assessment of a Multiple Sensor Fault Tolerant Robust Control System

2008 ◽  
Vol 2008 ◽  
pp. 1-10
Author(s):  
S.S. Yang ◽  
J. Chen
Keyword(s):  
Robust Control ◽  
Fault Tolerant ◽  
Mimo Systems ◽  
Sensor Faults ◽  
Pendulum System ◽  
Multiple Faults ◽  
Inverted Pendulum System ◽  
Robust Control System ◽  
Multiple Sensor ◽  
Robust Control Design

This paper presents an enhanced robust control design structure to realise fault tolerance towards sensor faults suitable for multi-input-multi-output (MIMO) systems implementation. The proposed design permits fault detection and controller elements to be designed with considerations to stability and robustness towards uncertainties besides multiple faults environment on a common mathematical platform. This framework can also cater to systems requiring fast responses. A design example is illustrated with a fast, multivariable and unstable system, that is, the double inverted pendulum system. Results indicate the potential of this design framework to handle fast systems with multiple sensor faults.

H2/H∞ Robust Control Design for Rotary Inverted Pendulum

2020 ◽  
Author(s):  
Luís Felipe Vieira Silva ◽  
Thiago Damasceno Cordeiro ◽  
Ícaro Bezerra Queiroz de Araújo ◽  
Heitor Judiss Savino
Keyword(s):  
Robust Control ◽  
Inverted Pendulum ◽  
Control Design ◽  
Lyapunov Theory ◽  
Pole Placement ◽  
Linear Matrix ◽  
Lagrange Formulation ◽  
Control Scheme ◽  
Robust Control Design ◽  
Rotary Inverted Pendulum

This works presents a H2/H∞ robust control scheme for a rotary inverted pendulum using Linear Matrix Inequality (LMI) approach based on Lyapunov theory and taking into account the uncertainty of the position of the pendulum to the servo-basis of the system. The dynamic model of the system is obtained by Euler-Lagrange formulation and the controller is obtained by solving a convex optimization problem. Experiments using this control scheme with changes in the position of the pendulum were made to compare the performance with another controller using pole placement control design. Results show that only H2/H∞ controller is able to maintain the stability of the system for all experiments performed in this work.

scholarly journals Development of Graphical Interface System for Inverted Pendulum Stabilization

2019 ◽  
pp. 150
Author(s):  
Erwin Susanto
Keyword(s):  
Inverted Pendulum ◽  
Control Design ◽  
Mathematic Model ◽  
Graphical Interface ◽  
Control Engineering ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Interface System ◽  
The Stability ◽  
And Control

Currently, most of basic control engineering lectures teach both mathematic model and control of an inverted pendulum to explain stability problems in dynamic systems. The inverted pendulum system is a pendulum controlled with a certain force in order to stand in balance around vertical equilibrium line. Hence this system is a highly unstable system and needs stabilization methods using a  kind of controller. This paper describes how to design a Proportional Derivative Integral (PID) controller via root locus technique to stabilize it and realization of its interface system for monitoring angle trajectory. This visualization is needed to observe the stability and  effectiveness of its mathematic model and control design. Experimental results and analysis show that control design and interface system can be implemented well.

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