Inverted pendulum

An inverted pendulum is a pendulum which has its mass above its pivot point. It is often implemented with the pivot point mounted on a cart that can move horizontally and may be called a cart and pole. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright, either by applying a torque at the pivot point or by moving the pivot point horizontally as part of a feedback system.

Fig A schematic drawing of the inverted pendulum on a cart. !he rod is considered massless. !he mass of the cart and the pointmass at the end of the rod are denoted by " and m. !he rod has a length l. !he inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms #$I% controllers, neural networks, fuzzy control, genetic algorithms, etc.&. 'ariations on this problem include multiple links, allowing the motion of the cart to be commanded while maintaining the pendulum, and balancing the cart(pendulum system on a see(saw. !he inverted pendulum is related to rocket or missile guidance, where the center of gravity is located behind the center of drag causing aerodynamic instability. !he largest implemented uses are on huge lifting cranes on shipyards. When moving the shipping containers back and forth, the cranes move the bo) accordingly so that it never swings or sways. It always stays perfectly positioned under the operator even when moving or stopping quickly.

*quations of motion
+tationary pivot point
!he equation of motion is similar to that for an uninverted pendulum e)cept that the sign of the angular position as measured from the vertical unstable equilibrium position

When added to both sides, it will have the same sign as the angular acceleration term

!hus, the inverted pendulum will accelerate away from the vertical unstable equilibrium in the direction initially displaced, and the acceleration is inversely proportional to the length. !all pendulums fall more slowly than short ones.

$endulum on a cart
!he equations of motion can be derived using ,agrange-s equations. .efer to the figure above where /#t& is the angle of the pendulum of length l with respect to the vertical direction and the acting forces are gravity and an e)ternal force F in the )(direction. %efine x#t& to be the position of the cart. !he ,agrangian L 0 T 1 V of the system is

where v2 is the velocity of the cart and v3 is the velocity of the point mass m. v2 and v3 can be e)pressed in terms of ) and / by writing the velocity as the first derivative of the position4 !he ,agrangian is now given by

and the equations of motion are

substituting L in these equations and simplifying leads to the equations that describe the motion of the inverted pendulum

!hese equations are nonlinear, but since the goal of a control system would be to keep the pendulum upright the equations can be linearized around .

+WI56I56(7$ A $*5%7,7" From the basic position after a small impulse, the pendulum should swing up to the upper position without overstepping of limited course of motion. !he principle of swinging up was based on increasing of the pendulum energy 2. For small angles 8/89 :;< = if angle / is positive #negative& and if angle velocity d/ is positive #negative& than the action value is positive #negative&, = if angle / and angle velocity d/ has different sign than the action value is equal >. 3. For medium angles ? #::<4 2@A<& the action value is equal >. B. For big angles close to the upper position ? #2@A<4 2:><& = if the angle velocity is small, 8d/8 9 2,@CD s and it has same sign like angle / then energy must be increased like in case 2., = if angle velocity is big, 8d/8 E2,@CD s and it has the same sign like angle / then we break the swinging. All this conditions respect the position of the pendulum x to not overstep limits. !he control algorithm of increasing the energy of an inverted pendulum was realized with the fuzzy logic system. We use three inputs variables #/, d/ and x & and one output variable u. Input variable / has si) membership functions symmetrical by center. In case 2 we don-t need to know accurate value of angle /, so we used rectangle shape of membership functions

%efinition ranges of variables are

cart position xF12Gcm,2GcmH, pole angle / F1B.2@rad,B.2@radH, angle velocity d/ F1Grad s, Grad sH and %I motor voltage uF12>',2>'H JA,A5I* KF $*5%7,7" %uring swinging up the pendulum a robust state controller may be appropriate to catch the pendulum in upright position. .eal(time balancing of a pendulum with those state controller gains shows that the pole oscillations and the chart movement stop in an equilibrium point. +teady(state or equilibrium for this algorithm is upper position where / 0 >,d/ 0 >, x 0 > and dx 0 > . Kur aim was to keep the pendulum inDor close to the steady(state during activity of defects