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Inverted Pendulum

This document describes designing a PID controller for an inverted pendulum system. It provides the transfer function model of the pendulum system and design criteria for controlling the pendulum angle and cart position. It then converts the continuous-time state space model into a discrete-time model using MATLAB functions in order to design a digital controller. Pole placement is used to design a full-state feedback controller to meet the design criteria.

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145 views4 pages

Inverted Pendulum

This document describes designing a PID controller for an inverted pendulum system. It provides the transfer function model of the pendulum system and design criteria for controlling the pendulum angle and cart position. It then converts the continuous-time state space model into a discrete-time model using MATLAB functions in order to design a digital controller. Pole placement is used to design a full-state feedback controller to meet the design criteria.

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Ferb
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Inverted Pendulum: PID Controller Design

In this page we will design a PID controller for the inverted pendulum system. In the design process we will assume a
single-input, single-output plant as described by the following transfer function. Otherwise stated, we will attempt to
control the pendulum's angle without regard for the cart's position.

where:
(M)

mass of the cart

0.5 kg

(m)

mass of the pendulum

0.2 kg

(b)

coefficient of friction for cart

0.1 N/m/sec

(l)

length to pendulum center of mass

0.3 m

(I)

mass moment of inertia of the pendulum

0.006 kg.m^2

(F)

force applied to the cart

(x)

cart position coordinate

(theta)

pendulum angle from vertical (down)

For this problem the outputs are the cart's displacement ( in meters) and the pendulum angle ( in radians) where
represents the deviation of the pedulum's position from equilibrium, that is,

+ .

The design criteria for this system for a 0.2-m step in desired cart position

are as follows:

Settling time for

and theta of less than 5 seconds

Rise time for

Pendulum angle

Steady-state error of less than 2% for

of less than 0.5 seconds


never more than 20 degrees (0.35 radians) from the vertical
and

Discrete state-space
Our first step in designing a digital controller is to convert the above continuous state-space equations
to a discrete form. We will accomplish this employing the MATLAB function c2d. This function requires
that we specify three arguments: a continuous system model, the sampling time (Ts in sec/sample),
and the 'method'. You should already be familiar with how to construct a state-space system from
, , , and
matrices.
In choosing a sample time, note that it is desired that the sampling frequency be fast compared to the
dynamics of the system. One measure of a system's "speed" is its closed-loop bandwidth. A good rule
of thumb is that the sampling time be smaller than 1/30th of the closed-loop bandwidth frequency
which can be determined from the closed-loop Bode plot.
Assuming that the closed-loop bandwidth frequencies are around 1 rad/sec for both the cart and the
pendulum, let the sampling time be 1/100 sec/sample. The discretization method we will use is
the zero-order hold ('zoh'). For further details, refer to the Introduction: Digital Controller Design page.
Now we are ready to use c2d function. Enter the following commands into an m-file. Running this m-file
in the MATLAB command window gives you the following four matrices representing the discrete time
state-space model.

M = 0.5;

m = 0.2;

b = 0.1;

I = 0.006;

g = 9.8;

l = 0.3;

p = I*(M+m)+M*m*l^2; %denominator for the A and B matrices

Discrete-time state-space model.

Now we have obtained the discrete state-space model of the form:

(3)

(4)

This proves that our discrete system is both completely state controllable and completely state observable.

Control design via pole placement


The schematic of a full-state feedback control system is shown below.

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