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PID CONTROL IMPLEMENTATION OF AN INVERTED PENDULUM SYSTEM

Year 2021, Issue: 047, 140 - 157, 31.12.2021

Abstract

Inverted pendulum which consists of a straight pole and a horizontally moving cart has been one of the most widely researched systems and is considered a classical problem in the area of control engineering. Main objective of the system is to control and stabilize both the angle of the pendulum and position of the cart. In this study, an example of such type of system was designed, implemented and controlled. Stabilization and control objective of the system was successfully achieved by using a Proportional-integral-derivative (PID) controller and graphs of input and outputs of the system was obtained in MATLAB environment.

References

  • [1] Lozano, R., Fantoni, I., Block, D.J., (2000), Stabilization of the inverted pendulum around its homoclinic orbit, System & Control Letters 40, s.197-204.
  • [2] Huang, S.J., Huang, C.L., (2000), Control of an inverted pendulum using grey prediction model, IEEE Transactions on Industry App. 36(2), s.452-458.
  • [3] Gani, A., Açıkgöz, H., Kılıç, E., Şit, S., (2014), Ters sarkacın bulanık mantık esaslı denetimi, Elektrik-Elektronik-Bilgisayar ve Biyomedikal Mühendisliği Sempozyumu ELECO’14, s.347-350.
  • [4] Elibol, G., (2015), Bir Ters Sarkaç Denetimi Gerçeklenmesi, Yüksek Lisans Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir.
  • [5] Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H., (2001), The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation, International Conference on Intelligent Robots and Systems, s.239-246.
  • [6] Sugihara, T., Nakamura, Y., Inoue, H., (2002), Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control, International Conference on Robotics & Automation, s.1404-1409.
  • [7] Pathak, K., Franch, J., Agrawal, S.K., (2005), Velocity and position control of a wheeled inverted pendulum by a partial feedback linearization, IEEE Transactions on Robotics 21(3), s.505-513.
  • [8] Gün, A., (2007), Yetersiz Uyarımlı Bir Elektromekanik Sistem Gerçeklenmesi ve Denetimi, Doktora Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir.
  • [9] Grasser, F., D’Arrigo, A., Colombi, S., Rufer, A.C., (2002), JOE: A mobile, inverted pendulum, IEEE Transactions on Industrial Electronics 49(1), s.107-114.
  • [10] Sharif, B.A., (2013), A Sliding Mode Control For Inverted Pendulum System, Yüksek Lisans Tezi, Gaziantep Üniversitesi Fen Bilimleri Enstitüsü, Gaziantep.
  • [11] Kharola, A., Patin, P., Raiwani, S., Rajput, D., (2016), A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers, Recent Trends in Engineering and Material Sciences 8, s.187-190.
  • [12] http://www.bdfdigital.com/PDF_ITA/BROCHURE/BDF_DIGITAL_OPDE.pdf
Year 2021, Issue: 047, 140 - 157, 31.12.2021

Abstract

References

  • [1] Lozano, R., Fantoni, I., Block, D.J., (2000), Stabilization of the inverted pendulum around its homoclinic orbit, System & Control Letters 40, s.197-204.
  • [2] Huang, S.J., Huang, C.L., (2000), Control of an inverted pendulum using grey prediction model, IEEE Transactions on Industry App. 36(2), s.452-458.
  • [3] Gani, A., Açıkgöz, H., Kılıç, E., Şit, S., (2014), Ters sarkacın bulanık mantık esaslı denetimi, Elektrik-Elektronik-Bilgisayar ve Biyomedikal Mühendisliği Sempozyumu ELECO’14, s.347-350.
  • [4] Elibol, G., (2015), Bir Ters Sarkaç Denetimi Gerçeklenmesi, Yüksek Lisans Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir.
  • [5] Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H., (2001), The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation, International Conference on Intelligent Robots and Systems, s.239-246.
  • [6] Sugihara, T., Nakamura, Y., Inoue, H., (2002), Realtime humanoid motion generation through ZMP manipulation based on inverted pendulum control, International Conference on Robotics & Automation, s.1404-1409.
  • [7] Pathak, K., Franch, J., Agrawal, S.K., (2005), Velocity and position control of a wheeled inverted pendulum by a partial feedback linearization, IEEE Transactions on Robotics 21(3), s.505-513.
  • [8] Gün, A., (2007), Yetersiz Uyarımlı Bir Elektromekanik Sistem Gerçeklenmesi ve Denetimi, Doktora Tezi, Eskişehir Osmangazi Üniversitesi Fen Bilimleri Enstitüsü, Eskişehir.
  • [9] Grasser, F., D’Arrigo, A., Colombi, S., Rufer, A.C., (2002), JOE: A mobile, inverted pendulum, IEEE Transactions on Industrial Electronics 49(1), s.107-114.
  • [10] Sharif, B.A., (2013), A Sliding Mode Control For Inverted Pendulum System, Yüksek Lisans Tezi, Gaziantep Üniversitesi Fen Bilimleri Enstitüsü, Gaziantep.
  • [11] Kharola, A., Patin, P., Raiwani, S., Rajput, D., (2016), A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers, Recent Trends in Engineering and Material Sciences 8, s.187-190.
  • [12] http://www.bdfdigital.com/PDF_ITA/BROCHURE/BDF_DIGITAL_OPDE.pdf
There are 12 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Research Articles
Authors

Yunus Sert 0000-0003-1286-1257

Ayhan Gün 0000-0002-4223-2518

Publication Date December 31, 2021
Submission Date March 4, 2021
Published in Issue Year 2021 Issue: 047

Cite

IEEE Y. Sert and A. Gün, “PID CONTROL IMPLEMENTATION OF AN INVERTED PENDULUM SYSTEM”, JSR-A, no. 047, pp. 140–157, December 2021.