Real-Time Control of an Inverted Pendulum: A Comparative Study

In this paper, we consider the problem of real-time control of an Inverted Pendulum. We design and implement four different control algorithms, namely PID, Pole placement, LQR and Fuzzy Logic. These controllers are applied to the Inverted Pendulum in real-time and their performance is compared on the basis of Pendulum regulation, disturbance rejection and control energy specifications. We also provide a performance comparison based on the ISE index.

[1]  Naresh K. Sinha,et al.  Modern Control Systems , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[2]  Jia-Jun Wang,et al.  Simulation studies of inverted pendulum based on PID controllers , 2011, Simul. Model. Pract. Theory.

[3]  William S. Levine,et al.  The Control Handbook , 2005 .

[4]  Augustin Mpanda,et al.  PID Control Theory , 2012 .

[5]  Khalid Munawar,et al.  Inverted pendulum with moving reference for benchmarking control systems performance , 2009, 2009 American Control Conference.

[6]  Hong Liu,et al.  Study on Fuzzy Control of Inverted Pendulum System in the Simulink Environment , 2007, 2007 International Conference on Mechatronics and Automation.

[7]  P. N. Paraskevopoulos,et al.  Modern Control Engineering , 2001 .

[8]  W. R. Howard,et al.  Mathematical Systems Theory I: Modelling, State Space Analysis, Stability and Robustness , 2005 .

[9]  Magda Osman,et al.  Control Systems Engineering , 2010 .

[10]  Chuan-Chang Hung,et al.  Comparative Analysis of Control Design Techniques for a Cart-Inverted-Pendulum in Real-Time Implementation , 1993, 1993 American Control Conference.

[11]  N. H. McClamroch,et al.  Asymptotic stability of rigid body attitude systems , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[12]  Fang Lei,et al.  Fuzzy logic controller for an inverted pendulum system , 1997, 1997 IEEE International Conference on Intelligent Processing Systems (Cat. No.97TH8335).

[13]  V. Maties,et al.  A predictive control approach for the inverse pendulum on a cart problem , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[14]  Michifumi Yoshioka,et al.  Neuro-control for single-input multi-output systems , 1998, 1998 Second International Conference. Knowledge-Based Intelligent Electronic Systems. Proceedings KES'98 (Cat. No.98EX111).

[15]  Fatah Chetouane,et al.  Fuzzy Control of a Gyroscopic Inverted Pendulum , 2010 .

[16]  Yanmei Liu,et al.  Real-time controlling of inverted pendulum by fuzzy logic , 2009, 2009 IEEE International Conference on Automation and Logistics.

[17]  Lijun Xu,et al.  Notice of Violation of IEEE Publication PrinciplesSystem Model and Controller Design of an Inverted Pendulum , 2009, 2009 International Conference on Industrial and Information Systems.