Inverted
Pendulum
What is Inverted Pendulum
A Pendulum that has its centre of mass above its pivot point.
• Inherently unstable.
• Must be actively balanced in order to remain upright.
• Must have a feedback system to keep it balanced.
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Why Inverted
Pendulum ?
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A Pendulum has two positions of equilibrium:
1. Stable
2. Unstable
Stable Unstable
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Criteria for Balancing
• Moving the Pivot point
• Applying torque at the Pivot point
• Generating a net torque on the Pivot point.
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Types of motor that can be used:
1. DC Motor
2. Stepper Motor 1 2
3. Servo Motor
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Comparison
DC Motor Stepper Motor
• DC Motor has high torque and high speed. • Stepper Motor has High torque but lacks in
speed.
• It requires more power to run the motor
• It requires comparatively less power.
• It has average efficiency.
• It has low efficiency.
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Formulating the problem:
Forces Acting on the Pendulum
ẑ
• Gravity
• Force of the pivot
• Frictional force m
l
θ
A, ω
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Equation Of Motion
Newton’s Second Law
ẑ
d 2x
F ma m 2
• Linear motion: dt
d 2
I I 2
• Circular motion: dt m
Equation of Motion
l
d
2
total I θ
dt 2
A, ω
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Torques
Gravity: grav r F sin
grav mgl sin
Oscillating pivot:
• Force: y (t ) A cos(t )
d 2 y (t )
a 2
2
A cos(t )
dt
d 2 y (t )
F ma m 2
m 2
A cos(t )
dt
pivot r F sin
• Torque: pivot ml 2 A cos(t ) sin
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Equation Of Motion
d 2 2 d
2
total grav pivot I 2 ml
dt dt 2
d 2
ml 2
2
mgl sin mg 2 A cos(t ) sin
dt
d 2 g 2 A
cos( t ) sin 0
dt 2 l l
Gravity Pivot
term term
m
For example:
θ
θ
m
g 9.81m.s 2
g l 19 cm
d 2 g d 2 g 02
0 0 l
dt 2 l dt 2 l 0 7.19 rad.s 1
(t ) exp(0 t ) (t ) sin 0 t
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Physical Intuition
d 2 2 2 A
0 cos( t ) sin 0
dt 2 l
Pivot term
(dominates for
large values of ω)
F m 2 A cos(t )
Inertial (lab) Fmax m 2 A
frame
F1 F2
rF sin
Non-inertial
frame 2 1
(of pendulum)
2 1
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Re-Parameterization
Reparameterize: t t
d 2 02 A
cos( ) sin 0
d 2 2 l
2
A
Let: 0
l
d 2
cos( ) sin 0
d 2
For small values of θ: sin
d 2
cos( ) 0
d 2
Mathieu's Equation
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Types of
Controller
which can be
used :
i. LQR Controller
ii. Two loop PID Controller
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LQR Controller
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LQR Controller
• The Linear Quadratic Regulator (LQR) is a well-known method that provides optimally controlled
feedback gains to enable the closed-loop stable and high performance design of systems.
• The main focus of an LQR control system is to achieve and hold a target configuration for a given
linear system using an optimal control law.
• An LQR Control system generates the control law using four matrices:
A Matrix: physical dynamics
B Matrix: control dynamics
Q Matrix: state cost
R Matrix: control cost
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PID Controller
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Two-Loop PID Controller
---------------------------------------------
• Double-loop PID control system, a PID controller and the object can form an inner loop that can make the unstable object
stable.
• In the forward channel of the control system, another PID controller and the object form an outer loop that can make the
control system have the expected performance.
• When we use the double-loop PID controller, the inner loop controls the pendulum angle and the outer loop controls the
cart horizontal position.
• In order to simplify the computation, two PID controllers are all designed as PD controllers.
• An amplifier G is placed in the inner loop in order to suppress interference and unit negative feedback is used in the outer
loop in order to obtain better following performance.
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Comparison
LQR Controller PID Controller
• LQR by definition gives the optimal state- • PID controller is simple and it can be tuned
feedback law that minimizes certain without having an analytical model.
quadratic objective function.
• For commercial applications, the PID
• In that sense, LQR is the best controller. controller is favorable for its simplicity and
simple tuning procedures.
• LQR has a drawback that it assumes that all
the states of the system are measurable.
• So, the design may be quite complex.
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Applications
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Real life Applications
Of Inverted Pendulum.
• HUMANS- make constant adjustments to maintain the upright position
of the body whether standing, walking or running.
• Balancing brooms with a hand or a finger.
• Rocket and missile guidance.
• Balancing a biped humanoid robot.
• Two-wheeled personal transports that offer higher maneuverability are
designed based on inverted pendulum models.
• Metronome
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Thank You
