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Proceedings of ICRMET-2016
Dr. Bindhu K. R.
Vinod B.R
I. INTRODUCTION
The International Federation of Automatic Control (IFAC)
Theory Committee in the year 1990 has determined a set
of practical design problems that are helpful in comparing
new and existing control methods and tools as benchmark
control problems.An Example of such a classical benchmark
control problem is a Cart-Inverted Pendulum System (CIPS).
Its dynamics resembles with that of many real world systems
of interest like missile launchers,pendubots, human walking
and segways and many more. The control of this system is
challenging as it is highly unstable, highly non-linear, nonminimum phase system and underactuated [1].
The system consists of a rigid mass connected to a cart,
which is constrained to move along a horizontal direction.The
inverted pendulum is balanced [10] by controlling the pendulums angle beneath the carts position..A force is applied
to this cart: if appropriate forces are applied the pole can be
kept in various positions from falling over.It is obvious that
under actuated systems have several advantages,so the control
theory of under actuated systems is analyzed and investigated
perspectively [3].
Several control algorithms are already implemented in the
field of stabilization of inverted pendulum. It is well known
that proportional integral derivative(PID) controllers [4]are
widely used in control systems. The design of these controllers, however, are generally carried out using some tuning
approaches such as Ziegler-Nichols method, which may not
ensure good looprobustness, and it is very difficult to meet
the design constraints [5].Sliding mode control, which is
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ISBN-13: 978-1535448697
Proceedings of ICRMET-2016
force applied, parallel to the rail, to the cart. It may seem that
the inverted pendulum balance can be achieved by controlling
the angle of the pendulum.
The Dynamics of the pendulum is given by the equations
(M + m) x
+ bx + mlcos
ml2 sin = u
J + ml2 mglsin + ml
xcos + d = 0
(2)
(3)
(4)
(5)
x1 = x2
(6)
x2 = 4 l g ml x1 (m+M ) 4l l ml u
( 3 m+M )
3
m+M
y = x1
the error till it becomes zero. There are mainly two approaches
to implement the MRAC, namely, MIT rule and Lyapunov
theory.
The drawback of MIT rule based MRAC design is that there
is no guarantee that the resulting closed loop system will
be stable. To overcome this difficulty, the Lyapunov theory
based MRAC can be designed, which ensures that the resulting
closed loop system is stable. The Lyapunov theorem states that
If there exits a function V: Rn R that is Positive definite
such that its derivative along the trajectories is neagtive semi
definite then the system is said to be stable,and the function
V is known as the Lyapunov function.
dV
V T dx
V T
=
=
f (x) = W (x)
(1)
dt
x dt
x
II. M ODELLING OF I NVERTED P ENDULUM S YSTEM
In the Cart-pole system the pendulum rod is free to oscillate
around a fixed pivot point attached to a cart which is controlled
by a motor and is constrained to move in the horizontal
direction. When the rod is placed in the upright vertical
position, it is in an unstable equilibrium point. The objective
of the controller is to apply a force to move the cart so that
the pendulum remains in the vertical unstable position. The
cart pole system is shown in Fig 2, where is the angle of
ym = 2n n2 ym + n2 r
(7)
(8)
where k1 , k2 , k3 represnts the parameters of feedback controller for the inverted pendulum. A controller was designed
to evaluvate these parameters. The ISO dynamic equation that
describes the closed-loop system, which contains both the
controller and the plant is represnted as
x = Ax + Br
T
0
y and A = 0.66k2 +9.9
1
where x = y
0.66
0.5
0.5 k3
0
B=
0.66
0.5 k1
The reference model is given by the following ISO system
xm = Am xm + Bm r
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(9)
23
(10)
IAETSD 2016
ISBN-13: 978-1535448697
Proceedings of ICRMET-2016
T
0
1
where xm = ym ym
and Am =
n2 2n2
T
0
Bm =
n2
The differential equation that describes the adaptation error
may be expressed as
P =
1
n
2
1+n
4
1
2
2n
1
4n
1
2
2n
1+
1
2
n
(14)
(15)
(16)
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ISBN-13: 978-1535448697
Parameter
g-gravity
l-length of pole
M-cart mass
m-pole mass
J-moment of interia
b-cart friction coefficient
d-damping coefficient
Proceedings of ICRMET-2016
Value
9.81m/s2
0.38m
2.4Kg
0.23Kg
0.009Kg-m2
0.05Ns/m
0.005Nms/rad
TABLE I
S YSTEM PARAMETERS OF C ART P OLE P ENDULUM
V. C ONCLUSION
Fig. 6. Simulink model of cart inverted pendulum system with controller
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ISBN-13: 978-1535448697
Proceedings of ICRMET-2016
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