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