Double Inverted Pendulum System Control Based on Internal Model Principle

2019 ◽  
Author(s):  
Haibin Shi ◽  
Zhi Xu ◽  
Tao Sun ◽  
Chuanping Wu
Keyword(s):  
Internal Model ◽  
Inverted Pendulum ◽  
System Control ◽  
Pendulum System ◽  
Internal Model Principle ◽  
Inverted Pendulum System

Sliding Mode Variable Structural Control of Nonlinear Inverted Pendulum

2012 ◽  
Vol 433-440 ◽  
pp. 74-80
Author(s):  
Jian Zhong Sun ◽  
Jian Kang Lu ◽  
Bin Yang ◽  
Jun Li Li
Keyword(s):  
Structural Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Integral Manifold ◽  
Variable Structure ◽  
System Control ◽  
State Transformation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Single Input

In this paper, the multi-input linear and nonlinear mathematical differential equations of inverted pendulum system were established based on the traditional single-input linear inverted pendulum. Aiming at multi-input nonlinear model, nonlinear state transformation are carried through on the basis of the test of distribution involution and the calculation of integral manifold, then, the multi-input nonlinear inverted pendulum system was transformed into two single-input nonlinear inverted pendulum system to study. In the end, make use of related nonlinear system control theory of the sliding mode variable structure, designed the controller structure.

Design and study of a pneumatically actuated inverted pendulum system controlled using a programmable logic controller

2019 ◽  
Vol 234 (7) ◽  
pp. 860-871
Author(s):  
Marco Pontin ◽  
Federico Colombo ◽  
Luigi Mazza ◽  
Terenziano Raparelli
Keyword(s):  
Inverted Pendulum ◽  
Nonlinear Models ◽  
Low Cost ◽  
Programmable Logic Controller ◽  
Pneumatic Cylinder ◽  
System Control ◽  
Programmable Logic ◽  
Pendulum System ◽  
Control Loops ◽  
Inverted Pendulum System

This article investigates an inverted pendulum on a mobile cart (mobile inverted pendulum) controlled via a programmable logic controller and actuated by a double-acting pneumatic cylinder. The study is conducted both theoretically, by modeling and simulating the entire system, and experimentally, using a specially developed test bench. Four low-cost 2/2 proportional valves are used for cylinder control. The control architecture consists of two nested control loops with proportional–integral–derivative compensators. To reduce cost, a programmable logic controller was used to manage both the system control and data acquisition. The results of the simulations carried out using linear and nonlinear models of the system were validated by comparison with those obtained experimentally.

An Optimized Design for Inverted Pendulum System of Active Disturbance Rejection Control Based on Generic Algorithm

2013 ◽  
Vol 313-314 ◽  
pp. 553-558 ◽  
Author(s):  
Jun Du ◽  
Jiu Long Jiang
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
System Control ◽  
Optimized Design ◽  
Control Effect ◽  
Generic Algorithm ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Disturbance Rejection Control ◽  
System Controller

The dissertation comes up with an optimized design for ADRC inverted pendulum system controller based on Generic Algorithm. This design making full use of ADRC method ,which can coordinate the ability to the response time and overshoot meanwhile it can also be provided with the characteristic of high anti-jamming ability, well Robustness ability ,designing ADRC inverted pendulum system controller for improving the performance of inverted pendulum system .At the same time ,aiming at more parameter of ADRC implement-designed ,more difficult to carry on designing problem ,it conducts more excellent design of excellent parameter with applying generic optimization algorithm ,and obtains the most excellent parameter of performance .At last simulate the control model with the help of MATLAB. Emulation result indicates ,the ADRC inverted pendulum system control method that the dissertation showing has provided with well evanescence and stabilization ,less responding time without overshoot ,with more control effect.

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