Design of PID Controller for Inverted Pendulum System

Pai, Rachana and Krishna, Bipin and Kumari, Krishna K (2010) Design of PID Controller for Inverted Pendulum System. In: Proceedings of ‘National Conference on Advances in Electrical Engineering’, Dec-2010., NITTE-Karkala, India.

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Abstract

The inverted pendulum offers a very good example for control engineers to verify a modern control theory. This can be explained by the facts that inverted pendulum is marginally stable, in control sense, has distinctive time variant mathematical model. Inverted Pendulum is a very good model for the attitude control of a space booster rocket and a satellite, an automatic aircraft landing system, aircraft stabilization in the turbulent air-flow, stabilization of a cabin in a ship etc. To solve such problem with non-linear time variant system, there are alternatives such as real time computer simulation of these equations or linearization. The inverted pendulum is a highly nonlinear and open-loop unstable system. This means that standard linear techniques cannot model the nonlinear dynamics of the system. When the system is simulated the pendulum falls over quickly. The characteristics of the inverted pendulum make identification and control more challenging. The inverted pendulum is an intriguing subject from the control point of view due to their intrinsic nonlinearity. The problem is to balance a pole on a mobile platform that can move in only two directions, to the left or to the right. This control problem is fundamentally the same as those involved in rocket or missile propulsion

Item Type: Conference or Workshop Item (Paper)
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 24 Jun 2016 14:04
Last Modified: 24 Jun 2016 14:04
URI: http://eprints.manipal.edu/id/eprint/146406

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