Inverted pendulum system is a complicated, unstable and multivariable nonlinear system. In order to control the angle and displacement of inverted pendulum system effectively, a novel double-loop digital PID control strategy is presented in this paper. Based on impulse transfer function, the model of the single linear inverted pendulum system is divided into two parts according to the controlle...

This paper presents the control of an inverted pendulum system using intelligent algorithms, such as fuzzy logic and neural networks, for advanced control education. The swing up balancing control of the inverted pendulum system was performed using fuzzy logic. Because the switching time from swing to standing motion is important for successful balancing, the fuzzy control method was employed t...

In order to guarantee real time, a simple control method is presented to stabilize the fast-moving systeminverted pendulum. The method was obtained by mathematical derivation based on the dynamical model of the inverted pendulum system, but the control strategy is independent of the model. It is applicable for controlling other multi input single output plants besides inverted pendulum. A contr...

A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pen...

Forwarding is a tool for constructing stabilizers for nonlinear systems. A key step in this design technique is to find an explicit solution to a partial differential equation (PDE), which may be hard to find—actually, the PDE may even not be solvable at all. In this brief note we show that it is possible to provide an additional degree of freedom for the solution of the aforementioned PDE, hen...

The purpose of this paper is to present the design of a complete control strategy for the classical and rotary single inverted pendulum system. The design, which involves swing-up and stabilization of both systems, is based on function blocks and GUI tools from the Inverted Pendula Modeling and Control, a Simulink block library developed by the author of the paper. Keywords—classical single inv...

The purpose of this paper is to present the design and program implementation of expansions made to the existing general algorithmic procedure which yields the mathematical model for a classical inverted pendulum system with an arbitrary number of pendulum links. The expansions include the option to define the reference position of the pendulum in a planar coordinate system, to choose the refer...

This paper presents the modelling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using Proportional-Integral-Derivative (PID) controller and Linear Quadratic Regulator (LQR). LQR, an optimal control technique, and PID control method, both of which are generally used for control of the linear dynamical systems have been used in this paper to control ...

The inverted pendulum is a highly nonlinear and open loop unstable system. To develop an accurate model of the inverted pendulum, different linear and nonlinear methods of identification will be used. However one of the problems encountered during modeling is the collection of experimental data from the inverted pendulum system. Since the output data from the unstable system does not show enoug...

Abstract This paper presents implementation of the adaptive neuro-fuzzy control method. Control performance of the adaptive neuro-fuzzy control method for a popular inverted pendulum system is evaluated. The inverted pendulum system is designed and built as an education kit for educational purpose for engineering students. The educational kit is specially used for intelligent control education....