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Da3 Report Final

The document discusses the control of an inverted pendulum system, focusing on balancing the pendulum using a cart and continuous feedback control. It outlines the system's design, including the use of MATLAB Simulink for simulation and the implementation of a PID controller for stability. Key findings highlight the importance of proper tuning for effective control and potential applications in robotics and aerospace.

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Rishika Ravishankar
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5 views13 pages

Da3 Report Final

The document discusses the control of an inverted pendulum system, focusing on balancing the pendulum using a cart and continuous feedback control. It outlines the system's design, including the use of MATLAB Simulink for simulation and the implementation of a PID controller for stability. Key findings highlight the importance of proper tuning for effective control and potential applications in robotics and aerospace.

Uploaded by

Rishika Ravishankar
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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CONTROL SYSTEM

DIGITAL ASSIGNMENT 3
SLOT : C1 + TC1

Done by-Rishika R(23BMH1050)


Vennila M(23BMH1130)
P Christa daryn (23BMH1126)
V A Nandica(23BMH1127)
Deepak P(23BMH1027)

CONTROL OF INVERTED PENDULUM SYSTEM

An inverted pendulum system is a classic control engineering


problem that involves balancing a pendulum in an upright
position using a controlled force. The system is naturally
unstable and requires continuous feedback control to
maintain equilibrium.

Control Objective:
 The goal is to keep the pendulum balanced upright.
 This is a complex control problem because any
movement of the cart affects the pendulum and vice
versa.
A simplified model diagram
It represents the inverted pendulum system with a cart of mass
mc and a pendulum of mass mp
 The pendulum is attached to the cart via a massless arm
of length L.
 The key variables:
o q1: The cart’s displacement (horizontal movement).
o q2: The pendulum’s angle (rotation from the vertical
axis).
 Control input u is a force applied to the cart to maintain
balance and move the system.
 The goal is to control the cart’s motion to keep the
pendulum balanced upright using feedback from q 1 and
q2.
Applications of using inverted pendulum system

Fig 1. Self-balanced Robot with the use of inverted pendulum


control system

The robot maintains balance by continuously adjusting its


wheels based on sensor feedback. An IMU detects deviations
from the upright position, and a PID controller processes this
data to generate corrective motor movements. The
proportional term corrects errors, the integral term eliminates
steady-state error, and the derivative term predicts future
errors. These adjustments ensure real-time stability, allowing
the robot to remain upright. This control mechanism mimics
an inverted pendulum system, making the robot self-
sustaining and adaptable to disturbances while maintaining
balance efficiently.
System Design

This project involves the simulation and control of a cart-


pendulum system using MATLAB Simulink. The system
consists of a cart with a pendulum attached to it, forming a
nonlinear dynamic model. The primary goal is to develop a
control system that stabilizes the pendulum while tracking a
reference trajectory.

System Model (Plant block):


The plant model used in the simulation represents the
nonlinear dynamics of the cart-pendulum system. The block
parameters are as follows:
 mc (Mass of the cart): 1.5 kg
 mp (Mass of the pendulum): Variable (to be determined)
 L (Length of the pendulum): 1 m
 g (Gravity acceleration): 9.82 m/s²
 d1 (Damping of the cart displacement): 0.01
 d2 (Damping in the joint): 0.01
 x_0 (Initial state vector): [0.1; 0.17453; 0; 0]
Controller Block:

1. Inputs to the Controller


 x(State Vector Input, 4x1): This represents the current
state of the system, which includes cart position, cart
velocity, pendulum angle, and pendulum angular
velocity.
 posref (Reference Position): This provides the desired
position for the cart.
2. Reference Position Processing
 The posref input is multiplied by [1; 0; 0; 0], which
selects only the cart position component from the state
reference. This means the controller will primarily focus
on keeping the cart at the desired reference position
while stabilizing the pendulum.
3. Error Calculation
 The reference cart position is subtracted from the actual
cart position. This generates the error signal, which
represents the difference between the desired and actual
cart positions.
4. Control Law: State Feedback Controller
 The error signal is fed into a state feedback controller
of the form:
u=−K⋅x
where K is a precomputed state feedback gain matrix
(denoted as K_LQR in the block). This gain is usually
designed using Linear Quadratic Regulator (LQR)
techniques to ensure optimal control performance.
5. Output: Control Input u
 The computed control signal u is then sent to the plant
(cart-pendulum system) to adjust the forces acting on the
cart, thereby achieving the control objectives.

Reference Trajectory:
The reference trajectory subsystem defines the desired
movement of the cart in a cart-pendulum system. This
trajectory serves as the input for the controller, guiding the
cart to follow a pre-defined motion.
This provides input between one and half to minus one and
half.
1. A Constant Block (-1.5)
o This provides a constant bias to the reference
trajectory.
o It shifts the trajectory downward by 1.5 units.
2. A Signal Generator Block
o This generates a periodic waveform, possibly a
square or sine wave.
o The waveform defines how the cart moves over
time (e.g., oscillating back and forth).
3. A Summation Block
o The sum of the constant value (-1.5) and the
generated waveform gives the final reference
trajectory.
o This determines the cart's desired motion.
4. Output Signal (pos_ref)
o This serves as the desired cart position.
o The controller will attempt to minimize the error
between the actual cart position and this reference.
Implementation and Result:
Model:

Graph of the closed loop inverted pendulum system:


Graph from reference trajectory:
The graph represents the position and angle of the cart.
 The top plot shows q1 which is the cart position in
meters.
 The bottom plot shows q2 which is the pendulum
angle in degrees.
Conclusion

The Simulink modelling of the inverted pendulum system


effectively demonstrates control and stability principles. Key
takeaways include:
 System Instability: The inverted pendulum is inherently
unstable and requires continuous control.
 PID Controller: A PID-based control strategy stabilizes
the system by adjusting the cart’s motion based on
feedback.
 Simulink Advantages: The graphical, block-based
environment allows for easy modelling, simulation, and
parameter tuning.
 Control Performance: Proper PID tuning ensures a fast,
stable response while preventing excessive oscillations.
 Real-World Applications: This model is applicable in
self-balancing robots, aerospace, and robotics.
 Future Enhancements: Alternative control strategies,
such as LQR (Linear Quadratic Regulator) or Fuzzy
Logic Control, can improve performance.

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