Stabilization of a Cart-Inverted Pendulum system using a 2-periodic controller: Simulation results

2013 ◽  
Author(s):  
Abhishek Dey ◽  
Sayantan Chakraborty ◽  
Sarit K Das
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Simulation Results

Synthesized ADRC for One-Level Inverted Pendulum System through Combination of Separating and Assembling

2014 ◽  
Vol 490-491 ◽  
pp. 794-797
Author(s):  
Wen Ping Li ◽  
Li Qiang Wu
Keyword(s):  
Nonlinear System ◽  
Inverted Pendulum ◽  
Dynamical Decoupling ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Strong Robustness ◽  
Ideal Study ◽  
Simulation Results ◽  
The One ◽  
The Ideal

Inverted pendulum system is the ideal study object of nonlinear system. The ADRC has good estimate for disturbances, strong robustness and using static decoupling instead of dynamical decoupling. The one-level inverted pendulum system can be regarded as composing of the pendulum angel system and the cart position system. The former is faster and the later is slower. The synthesized ADRC for one-level inverted pendulum system is built through combination of separating and assembling to reduce difficulty in optimizing ADRC parameters of the inverted pendulum system. The synthesized controller is simulated by Matlab under different parameters of the inverted pendulum. Simulation results show that the pendulum angle and the cart position are well controlled.

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.

Predictor-network-based MRACS for inverted pendulum system.

1991 ◽  
Vol 111 (3) ◽  
pp. 221-229 ◽  
Author(s):  
Motomiki Uchida ◽  
Yukihiro Toyoda ◽  
Yoshikuni Akiyama ◽  
Kazushi Nakano ◽  
Hideo Nakamura
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System

Optimal PID Design Approaches for an Inverted Pendulum System

2016 ◽  
Vol 9 (3) ◽  
pp. 167 ◽  
Author(s):  
Muhammad Sani Gaya ◽  
Anas Abubakar Bisu ◽  
Syed Najib Syed Salim ◽  
I. S. Madugu ◽  
L. A. Yusuf ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Pendulum System ◽  
Inverted Pendulum System

Analysis and modeling of an inverted pendulum system

2021 ◽  
Author(s):  
Keyword(s):  
Mathematical Model ◽  
Nonlinear System ◽  
Inverted Pendulum ◽  
System Analysis ◽  
Dimensional System ◽  
Two Dimensional ◽  
System Operation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Two Dimensional System

A nonlinear system, which consists of an inverted pendulum mounted on a cart with an electric drive, is considered. A mathematical model is created, its analysis and modeling of the investigated two-dimensional system operation is carried out. Keywords mathematical model; inverted pendulum; system analysis; state space

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