Open AccessComprehensive 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 , double inverted pendulum , controller (irrigation) , nonlinear system , pendulum , transfer function , furuta pendulum , computer science , position (finance) , state space , double pendulum , control engineering , engineering , mathematics , 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.