Real Time Control Of Rotary Inverted Pendulum
Abstract
This paper proposes advanced control strategy for a rotary inverted pendulum (RIP). RIP is an underactuated mechanical system because it has only one control input and two degrees of freedom. Because of its complex nonlinear dynamics, RIP is usually used to test performance of different control algorithms. First, laboratory electromechanical system representing the full control system is described in short, followed by the mathematical model for the RIP. Control problem is divided and implemented in two different steps: swing-up and stabilization routines. Here, a partial
feedback linearization procedure and PID control are suggested for the control of RIP.
The effectiveness of the proposed control method is tested in Matlab Simulink
environment.
Keywords:
inverted pendulum / PID control / feedback linearizationSource:
Proceedings / 11th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology, DEMI 2013, 30th May ‐ 1th June 2013, 2013, 1059-1064Publisher:
- University of Banja Luka, Faculty of Mechanical Engineering
Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Intelligent Control Systems of the Air-conditioning for the Purpose of Achieving Energy Efficient Exploitation Regimes in the Complex Operating Conditions (RS-MESTD-Technological Development (TD or TR)-33047)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lazarević, Mihailo AU - Stojanovic, Slavoljub AU - Ristanović, Milan PY - 2013 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4578 AB - This paper proposes advanced control strategy for a rotary inverted pendulum (RIP). RIP is an underactuated mechanical system because it has only one control input and two degrees of freedom. Because of its complex nonlinear dynamics, RIP is usually used to test performance of different control algorithms. First, laboratory electromechanical system representing the full control system is described in short, followed by the mathematical model for the RIP. Control problem is divided and implemented in two different steps: swing-up and stabilization routines. Here, a partial feedback linearization procedure and PID control are suggested for the control of RIP. The effectiveness of the proposed control method is tested in Matlab Simulink environment. PB - University of Banja Luka, Faculty of Mechanical Engineering C3 - Proceedings / 11th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology, DEMI 2013, 30th May ‐ 1th June 2013 T1 - Real Time Control Of Rotary Inverted Pendulum EP - 1064 SP - 1059 UR - https://hdl.handle.net/21.15107/rcub_machinery_4578 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo and Stojanovic, Slavoljub and Ristanović, Milan", year = "2013", abstract = "This paper proposes advanced control strategy for a rotary inverted pendulum (RIP). RIP is an underactuated mechanical system because it has only one control input and two degrees of freedom. Because of its complex nonlinear dynamics, RIP is usually used to test performance of different control algorithms. First, laboratory electromechanical system representing the full control system is described in short, followed by the mathematical model for the RIP. Control problem is divided and implemented in two different steps: swing-up and stabilization routines. Here, a partial feedback linearization procedure and PID control are suggested for the control of RIP. The effectiveness of the proposed control method is tested in Matlab Simulink environment.", publisher = "University of Banja Luka, Faculty of Mechanical Engineering", journal = "Proceedings / 11th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology, DEMI 2013, 30th May ‐ 1th June 2013", title = "Real Time Control Of Rotary Inverted Pendulum", pages = "1064-1059", url = "https://hdl.handle.net/21.15107/rcub_machinery_4578" }
Mandić, P., Lazarević, M., Stojanovic, S.,& Ristanović, M.. (2013). Real Time Control Of Rotary Inverted Pendulum. in Proceedings / 11th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology, DEMI 2013, 30th May ‐ 1th June 2013 University of Banja Luka, Faculty of Mechanical Engineering., 1059-1064. https://hdl.handle.net/21.15107/rcub_machinery_4578
Mandić P, Lazarević M, Stojanovic S, Ristanović M. Real Time Control Of Rotary Inverted Pendulum. in Proceedings / 11th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology, DEMI 2013, 30th May ‐ 1th June 2013. 2013;:1059-1064. https://hdl.handle.net/21.15107/rcub_machinery_4578 .
Mandić, Petar, Lazarević, Mihailo, Stojanovic, Slavoljub, Ristanović, Milan, "Real Time Control Of Rotary Inverted Pendulum" in Proceedings / 11th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology, DEMI 2013, 30th May ‐ 1th June 2013 (2013):1059-1064, https://hdl.handle.net/21.15107/rcub_machinery_4578 .