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Virtual laboratory for sliding mode and PID control of rotary inverted pendulum
Author(s) -
Demirtas Metin,
Altun Yusuf,
Istanbullu Ayhan
Publication year - 2013
Publication title -
computer applications in engineering education
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.478
H-Index - 29
eISSN - 1099-0542
pISSN - 1061-3773
DOI - 10.1002/cae.20484
Subject(s) - inverted pendulum , pid controller , control theory (sociology) , nonlinear system , virtual laboratory , sliding mode control , control engineering , computer science , mode (computer interface) , control (management) , engineering , physics , temperature control , artificial intelligence , operating system , multimedia , quantum mechanics
This paper presents a new virtual laboratory tool which teaches sliding mode control (SMC) and proportional–integral–derivative (PID) control to graduate students. Additionally, it describes performance differences between two control methods graphically. This educational virtual laboratory tool contains the control of rotary inverted pendulum. This system is a typical example of nonlinear and under‐actuated systems and also well‐known in control engineering for practicing different control theories. At first, the nonlinear dynamic equations of the inverted pendulum are presented. Then a virtual laboratory tool is designed for SMC and PID. After that, the results are analyzed. The validity of designed tool is verified by an experiment. © 2010 Wiley Periodicals, Inc. Comput Appl Eng Educ 21: 400–409, 2013