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Mathematical Model of Inverted Pendulum System

This document describes a mathematical model of an inverted pendulum system. It discusses how an inverted pendulum is inherently unstable but can be actively balanced using feedback control. A PID controller is proposed to provide closed-loop feedback to balance the pendulum. MATLAB simulations are used to model the system dynamics, design the PID controller, and evaluate the controller's ability to balance the pendulum.

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Majid Mehmood
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395 views18 pages

Mathematical Model of Inverted Pendulum System

This document describes a mathematical model of an inverted pendulum system. It discusses how an inverted pendulum is inherently unstable but can be actively balanced using feedback control. A PID controller is proposed to provide closed-loop feedback to balance the pendulum. MATLAB simulations are used to model the system dynamics, design the PID controller, and evaluate the controller's ability to balance the pendulum.

Uploaded by

Majid Mehmood
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Mathematical Model of Inverted Pendulum

system.
Presented by-

1
What is an Inverted Pendulum ?
A Pendulum that has its center of mass above itspivot
point.
• Inherently unstable.
• Must be actively balanced in order to
remain upright.
• Must have a feedback system to keep
it balanced.

Criteria for Balancing


• Moving the Pivot point .
• Applying torque at the Pivot
point.
• Generating a net torque on the
Pendulum.
• Vertically Oscillating th e Pivot
point. 2
Real lifeExamples

3
Types of InvertedPendulum
In general two types-
1. Linear Inverted Pendulum
2. Rotary Inverted Pendulum

Moving the pivot point Applying a torque at the


horizontally pivot point 4
Our ThesisWork

Inverted pendulum Self Balancing Vehicle prototype Rotary Inverted pendulum


pivoted on cart 5
Linear Inverted
Pendulum
3
CONCEPT INVOLVED

 Self balancing property of an Inverted Pendulum can


be applied to two wheeled vehicles.

 Self balancing is attained using a feedback


network

 A PID (Proportional integral Derivative)controller is


used as the closed loop feedback system.
4
WORKING PRINCIPLE

The Inverted Pendulum works on the


simple Principle of Newton’s Third Law of
Motion ( Action and Reaction).

Action : The body tends to fall in the


forward direction.
Reaction : The speed of the system is
increased by the feedback system thus helping
in attaining stability.
PROPORTIONAL INTERGAL 6
DERIVATIVE
CONTROL SYSTEM

► Kp: Proportional gain, a tuning parameter

► Ki: Integral gain, a tuning parameter

► Kd: Derivative gain, a tuning parameter

► e: Error = SP - PV

► t: Time or instantaneous time (the present)

► τ : Variable of integration; takes on values


from time 0 to the present t.
PID CONTROLLER TUNING
•The faster response,the worse
stability.

• The better stability,the slower


response.

So, for the control system, we look for


the following compromise:

Acceptable stability,and mediumfastness


of response
Methodology ofwork

Study of System dynamics

Mathematical Modeling

MATLAB Simulation

PID Controller design in MATLAB

Application of Controller in
Experimental Setup.

1
0
System Dynamics and Mathematical Modeling
• 2D problem, where the pendulum is constrained
to move in the vertical plane.
• Control input is the force , F that moves the cart
horizontally.
• Outputs are the angular position of the
pendulum and the horizontal position , of the
cart .
• Pendulum is vertically upright , when = pi
System Transfer Functions

1
1
MATLAB Simulation of the System.

• No Feedback, No Controller.
• The System goes without
bound.
• The pendulum falls down
within seconds.
phi

Time

Fig: System behavior without Feedback and


Controller.

1
2
PID ControllerDesign
Integralgain,
KI

Proportional Derivative
gain ,KP gain, KD

Angle
PID
Controller

Fig: System block diagram with PID controller and


Feedback

• Angular displacement is
sent as a feedback.
• Displacement can me
measured by using
Sensor( Potentiometer,
Encoder , Gyroscope etc.
Fig: Simulink Model of the
) system 10
with PID controller and Feedback
PID Controller design in MATLAB
Initialization
KP = 1,KI= 1,KD
=1

11
Tuning KP between( 1-100) Tuning KD between( 1-20)
PID Controller design in MATLAB

Tuned Response, with KP=100,


KI=1, KD=20
15
Mathematical Modeling
Equation of Motion
Linearization

State Space
Model
Open loop poles
MATLAB Plot

15

Fig: Mathematical modeling result


Pole Plotting onMATLAB

Fig: Open Loop


Poles

16
Thank you!!

18

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