Rotary inverted pendulum model

Some swung the pendulum from its hanging position to its upright vertical position [ 39141531 ]. Tuning of PID controllers with fuzzy logic. Its validity is proved by simulation results. Control Theor. Ali, H.

Inverted pendulum project

Each particle has a position and velocity vector and each position coordinate represents a parameter value. A common assumption to these robust designs is that the variation bounds of the uncertainties and disturbances have to be available; otherwise, the design is not feasible. Introduction The rotary inverted pendulum is a classic problem in the control systems area, which allows to evaluate performance and demonstrate the effectiveness of control techniques. Research community has studied and proposed diverse improvements to the classical PID approach in RIP systems: linear PID with a direct control of each system variable [9], Fuzzy Logic focused on a fuzzy controller [10], Optimum state regulator [11], and genetic algorithm based controller GA [12]. Birdwell, Please scroll down to see the full text. In this paper, a comparative study of the performances of linear and nonlinear PID structures is carried out. Ferreira et al. Genetic algorithm and particle swarm optimization in engineering electromagnetics. Some others tried to create oscillations around its unstable vertical position [ 2 , 12 , 30 ]. Kwok, D. It has a pendulum arm attached to a rotary instead of a moving car [1]. At the end of each iteration, program checks the stop criterion.

The proposed method could be considered as a promising way for nonlinear control systems in general. Using gear mechanism and magnified angle pulse of electrical fourfold frequency circuit, switching in biphasic high-speed interfaces of PLC and being displayed on panel calculated by PLC, or achieving to correct the output pulse of motor driving with setting angle value.

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rotary inverted pendulum simulink model

The rotary inverted pendulum RIP is a problem difficult to control, several studies have been conducted where different control techniques have been applied. Figure 2.

Rotary inverted pendulum model

Together with the FAT-based adaptive controller, the closed loop stability can be justified with the Lyapunov-like method. This study demonstrates that PSO method can solve searching and tuning the controller parameters more efficiently than GA. The topic of our future researches is to utilize other cognitive methods in order to achieve better results for designing controller and improving the performance in real time. Suitable selection of w provides a balance between global and local explorations. In this paper, a comparative study of the performances of linear and nonlinear PID structures is carried out. Description of the System The RIP system is controlled from a PC, therefore the system contains hardware and software that can be easily installed in a laboratory. All the proposed controllers referred in the articles in this paragraph aim to identify, optimize and stabilize systems in general. The parameter w helps the particles converge to Gbest, rather than oscillating around it. Please scroll down to see the full text. Prates, C. The proposed method could be considered as a promising way for nonlinear control systems in general.

The research developed in this paper proposes to apply some methods, techniques and the use of CAD tools for estimating parameters that are not easy to measure and study because of the performance of RIP system by using a nonlinear control technique nonlinear PID presented in [13].

This article also presents the modeling system, which has been estimated some of the parameters involved in the RIP system, using computer-aided design tools CAD and experimental methods or techniques proposed by several authors attended.

Based on the Lyapunov-like theory, the closed loop stability and boundedness of all internal signals can be proved. Please scroll down to see the full text. To design these update laws, we would like to apply the function approximation technique [ 817181920 ].

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Rotary Inverted Pendulum