Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis

Inverted pendulum control is one of the fundamental but interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. In this paper some classical and m...

Full description

Bibliographic Details
Main Authors:	Akhtaruzzaman , Md., Shafie, Amir Akramin
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/2978/ http://irep.iium.edu.my/2978/ http://irep.iium.edu.my/2978/ http://irep.iium.edu.my/2978/1/32B99d01.pdf

id	iium-2978
recordtype	eprints
spelling	iium-29782011-10-10T04:26:26Z http://irep.iium.edu.my/2978/ Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis Akhtaruzzaman , Md. Shafie, Amir Akramin TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Inverted pendulum control is one of the fundamental but interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. In this paper some classical and modern control techniques are analyzed to design the control systems. Firstly, the most popular Single Input Single Output (SISO) system, is applied including 2DOF Proportional-Integral-Derivative (PID) compensator design. Here the common Root Locus Method is described step by step to design the two compensators of PID controller. Designing the control system using 2DOF PID is quiet challenging task for the rotary inverted pendulum because of its highly nonlinear and open-loop unstable characteristics. Secondly, the paper describes the two Modern Control techniques that include Full State Feedback (FSF) and Linear Quadratic Regulator (LQR). Here FSF and LQR control systems are tested both for the Upright and Swing-Up mode of the Pendulum. Finally, experimental and MATLAB based simulation results are described and compared based on the three control systems which are designed to control the Rotary Inverted Pendulum. © 2010 IEEE. 2010-08-07 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/2978/1/32B99d01.pdf Akhtaruzzaman , Md. and Shafie, Amir Akramin (2010) Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis. In: 2010 International Conference on Mechatronics and Automation (ICMA 2010), 4-7 August 2010, Xian, China. http://dx.doi.org/10.1109/ICMA.2010.5589450 doi:10.1109/ICMA.2010.5589450
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Akhtaruzzaman , Md. Shafie, Amir Akramin Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis
description	Inverted pendulum control is one of the fundamental but interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. In this paper some classical and modern control techniques are analyzed to design the control systems. Firstly, the most popular Single Input Single Output (SISO) system, is applied including 2DOF Proportional-Integral-Derivative (PID) compensator design. Here the common Root Locus Method is described step by step to design the two compensators of PID controller. Designing the control system using 2DOF PID is quiet challenging task for the rotary inverted pendulum because of its highly nonlinear and open-loop unstable characteristics. Secondly, the paper describes the two Modern Control techniques that include Full State Feedback (FSF) and Linear Quadratic Regulator (LQR). Here FSF and LQR control systems are tested both for the Upright and Swing-Up mode of the Pendulum. Finally, experimental and MATLAB based simulation results are described and compared based on the three control systems which are designed to control the Rotary Inverted Pendulum. © 2010 IEEE.
format	Conference or Workshop Item
author	Akhtaruzzaman , Md. Shafie, Amir Akramin
author_facet	Akhtaruzzaman , Md. Shafie, Amir Akramin
author_sort	Akhtaruzzaman , Md.
title	Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis
title_short	Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis
title_full	Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis
title_fullStr	Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis
title_full_unstemmed	Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis
title_sort	modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis
publishDate	2010
url	http://irep.iium.edu.my/2978/ http://irep.iium.edu.my/2978/ http://irep.iium.edu.my/2978/ http://irep.iium.edu.my/2978/1/32B99d01.pdf
first_indexed	2023-09-18T20:10:40Z
last_indexed	2023-09-18T20:10:40Z
_version_	1777407455929565184

Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis

Similar Items