An Automatic Self-Tuning Control System Design for an Inverted Pendulum
A control problem of an inverted pendulum in the presence of parametric uncertainty has been investigated in this paper. In particular, synthesis and implementation of an automatic self-tuning regulator for a real inverted pendulum have been given. The main cores of the control system are a swing-up...
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8985295/ |
| _version_ | 1818857153939636224 |
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| author | Michal Waszak Rafal Langowski |
| author_facet | Michal Waszak Rafal Langowski |
| author_sort | Michal Waszak |
| collection | DOAJ |
| description | A control problem of an inverted pendulum in the presence of parametric uncertainty has been investigated in this paper. In particular, synthesis and implementation of an automatic self-tuning regulator for a real inverted pendulum have been given. The main cores of the control system are a swing-up control method and a stabilisation regulator. The first one is based on the energy of an inverted pendulum, whereas the second one uses the linear-quadratic regulator (LQR). Because not all of the inverted pendulum parameter values are exactly known an automatic self-tuning mechanism for designed control system has been proposed. It bases on a devised procedure for identifying parameters. The entire derived control system enables effective a pendulum swing-up and its stabilisation at an upper position. The performance of the proposed control system has been validated by simulation in Matlab/Simulink environment with the use of the inverted pendulum model as well as through experimental works using the constructed inverted pendulum on a cart. |
| first_indexed | 2024-12-19T08:35:52Z |
| format | Article |
| id | doaj.art-a19f42ded0514d5597cf9ee907823de7 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T08:35:52Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a19f42ded0514d5597cf9ee907823de72022-12-21T20:29:03ZengIEEEIEEE Access2169-35362020-01-018267262673810.1109/ACCESS.2020.29717888985295An Automatic Self-Tuning Control System Design for an Inverted PendulumMichal Waszak0https://orcid.org/0000-0003-0294-0154Rafal Langowski1https://orcid.org/0000-0003-1150-9753Department of Electrical Engineering, Control Systems and Informatics, Gdańsk University of Technology, Gdańsk, PolandDepartment of Electrical Engineering, Control Systems and Informatics, Gdańsk University of Technology, Gdańsk, PolandA control problem of an inverted pendulum in the presence of parametric uncertainty has been investigated in this paper. In particular, synthesis and implementation of an automatic self-tuning regulator for a real inverted pendulum have been given. The main cores of the control system are a swing-up control method and a stabilisation regulator. The first one is based on the energy of an inverted pendulum, whereas the second one uses the linear-quadratic regulator (LQR). Because not all of the inverted pendulum parameter values are exactly known an automatic self-tuning mechanism for designed control system has been proposed. It bases on a devised procedure for identifying parameters. The entire derived control system enables effective a pendulum swing-up and its stabilisation at an upper position. The performance of the proposed control system has been validated by simulation in Matlab/Simulink environment with the use of the inverted pendulum model as well as through experimental works using the constructed inverted pendulum on a cart.https://ieeexplore.ieee.org/document/8985295/Dynamics modellingidentification procedureinverted pendulumparametric uncertaintyself–tuning regulator |
| spellingShingle | Michal Waszak Rafal Langowski An Automatic Self-Tuning Control System Design for an Inverted Pendulum IEEE Access Dynamics modelling identification procedure inverted pendulum parametric uncertainty self–tuning regulator |
| title | An Automatic Self-Tuning Control System Design for an Inverted Pendulum |
| title_full | An Automatic Self-Tuning Control System Design for an Inverted Pendulum |
| title_fullStr | An Automatic Self-Tuning Control System Design for an Inverted Pendulum |
| title_full_unstemmed | An Automatic Self-Tuning Control System Design for an Inverted Pendulum |
| title_short | An Automatic Self-Tuning Control System Design for an Inverted Pendulum |
| title_sort | automatic self tuning control system design for an inverted pendulum |
| topic | Dynamics modelling identification procedure inverted pendulum parametric uncertainty self–tuning regulator |
| url | https://ieeexplore.ieee.org/document/8985295/ |
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