Proportional-integral-plus (PIP) control of an inverted pendulum system

This paper discusses the design and implementation of an optimal proportional-integral-plus (PIP) controller for a large inverted pendulum system. Utilising the true digital control (TDC) approach to control systems, a data-based model of the unstable nonminimum phase open-loop system is used for linear quadratic (LQ) optimal design of the PIP controller, which out-performs a more conventional state variable feedback controller based on a continuous-time, mechanistic model of the system.