Comprehensive Survey of PID Controller Design for the Inverted Pendulum | Zendy

Miklós Kuczmann | Zendy

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Comprehensive Survey of PID Controller Design for the Inverted Pendulum

Author(s) -

Miklós Kuczmann

Publication year - 2019

Publication title -

acta technica jaurinensis

Language(s) - English

Resource type - Journals

eISSN - 2064-5228

pISSN - 1789-6932

DOI - 10.14513/actatechjaur.v12.n1.492

Subject(s) - inverted pendulum , control theory (sociology) , pid controller , nonlinear system , pendulum , controller (irrigation) , double inverted pendulum , position (finance) , transfer function , computer science , furuta pendulum , state space , control engineering , double pendulum , mathematics , engineering , control (management) , physics , mechanical engineering , artificial intelligence , temperature control , biology , quantum mechanics , agronomy , statistics , finance , electrical engineering , economics

The survey shows the detailed PID controller design how to stabilize the inclination angle as well as the horizontal movement of an inverted pendulum on a cart system step by step. Pendulum model is based on Euler-Lagrange modeling, and the nonlinear state space model is linearized in the unstable upward position. Controller design is performed by applying the transfer function description. The pendulum has been inserted into a virtual reality laboratory, which is suitable to use in model based control teaching.

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