Inverted Pendulum
Control System
Krishnan Pandalai
Manav Kataria
Outline
● What is an Inverted Pendulum?
● Real-life Examples
● Mathematical Modeling
● Need for a Controller
● Requirement Specifications
● Implementing a Controller
● Conclusion
Inverted Pendulum Control System 2
What is an Inverted Pendulum?
Inverted Pendulum Control System 3
Real Examples
● Rockets and Missiles
● Heavy Cranes lifting containers in shipyards
● Self balancing Robots
● Future Transport Systems like:
– Segways
– Jetpacks!
Inverted Pendulum Control System 4
Mathematical Modeling
Inverted Pendulum Control System 5
Mathematical Modeling
(1)
(2)
TF:
Inverted Pendulum Control System 6
Open Loop Impulse Response
Inverted Pendulum Control System 7
PI Controller
Inverted Pendulum Control System 8
PID Controller
Inverted Pendulum Control System 9
Closed Loop Transfer Function
Inverted Pendulum Control System 10
Thank you!
=
Q & A?...
Inverted Pendulum Control System 11
Backup Slides ...
Inverted Pendulum Control System 12
What is an Inverted Pendulum?
Inverted Pendulum Control System 13
Real Examples
Inverted Pendulum Control System 14
Real Examples
Inverted Pendulum Control System 15
Real Examples
Inverted Pendulum Control System 16
Real Examples
Inverted Pendulum Control System 17
Modeling - Equations
Inverted Pendulum Control System 18
Inverted Pendulum Control System
Inverted Pendulum
Control System
Krishnan Pandalai
Inverted Pendulum Control System
Manav Kataria 1
Control & Computation Group, IIT Bombay 1
Inverted Pendulum Control System
Outline
● What is an Inverted Pendulum?
● Real-life Examples
● Mathematical Modeling
● Need for a Controller
● Requirement Specifications
● Implementing a Controller
● Conclusion
Inverted Pendulum Control System 2
Control & Computation Group, IIT Bombay 2
Inverted Pendulum Control System
What is an Inverted Pendulum?
Inverted Pendulum Control System 3
An inverted pendulum is a pendulum which has its
mass above its pivot point.
Whereas a normal pendulum is stable when hanging
downwards, an inverted pendulum is inherently
unstable, and must be actively balanced in order to
remain upright by moving the pivot point horizontally
as part of a feedback system.
Control & Computation Group, IIT Bombay 3
Inverted Pendulum Control System
Real Examples
● Rockets and Missiles
● Heavy Cranes lifting containers in shipyards
● Self balancing Robots
● Future Transport Systems like:
– Segways
– Jetpacks!
Inverted Pendulum Control System 4
The inverted pendulum is related to rocket or missile
guidance, where thrust is actuated at the bottom of a
tall vehicle.
The Segway is a two-wheeled, self-balancing electric
vehicle
Control & Computation Group, IIT Bombay 4
Inverted Pendulum Control System
Mathematical Modeling
Inverted Pendulum Control System 5
Control & Computation Group, IIT Bombay 5
Inverted Pendulum Control System
Mathematical Modeling
(1)
(2)
TF:
Inverted Pendulum Control System 6
Using Newton's laws of Motion and Forces we obtain a
a set of differential equations governing the
system.
These equations are obtained by equating
* Horizontal Forces – Cart, and
* Forces acting Perpendicular to the Pendulum
The transfer function of the system indicates that this is
a 3rd Order System (Degree of s in the denominator)
Control & Computation Group, IIT Bombay 6
Inverted Pendulum Control System
Open Loop Impulse Response
Inverted Pendulum Control System 7
Observe the system's velocity response to an
impulse force applied to the cart
It is not stable in open loop.
Settling Time = Infinity; SSE = Infinite
In order to bring the Pendulum under control, by
“control” I mean back to vertical position after the
impulse force has been applied (and following these
performance specifications):
* within 5 seconds of Settling-Time, and
* with < 3 degree of Steady State Error
Control & Computation Group, IIT Bombay 7
Inverted Pendulum Control System
PI Controller
Inverted Pendulum Control System 8
We use a PID controller:
With just Proportional-Integral controller
settling time = 2 seconds (acceptable)
steady-state error = 0
overshoot = very high
---
Since the steady-state error has already been reduced
to zero, no more integral control is needed. You can
remove the integral gain constant to see for yourself
that the small integral control is needed. The
overshoot is too high, so that must be fixed.
Control & Computation Group, IIT Bombay 8
Inverted Pendulum Control System
PID Controller
Inverted Pendulum Control System 9
We use a PID controller:
With just Proportional-Integral-Derivative controller
settling time = 2 seconds (acceptable)
steady-state error = 0
overshoot = controlled by derivative controller
Control & Computation Group, IIT Bombay 9
Inverted Pendulum Control System
Closed Loop Transfer Function
Inverted Pendulum Control System 10
Conclusion:
By using a PID Controller:
The overshoot has been reduced so that the pendulum
does not move more than 0.05 radians away from
the vertical. All design criteria have been met, so
no further iteration is needed.
Design Not Feasible for a Actual Physical System:
The cart moves in the negative direction with a
constant velocity. So although the PID controller
stabilizes the angle of the pendulum,
Control & Computation Group, IIT Bombay 10
Inverted Pendulum Control System
Thank you!
=
Q & A?...
Inverted Pendulum Control System 11
Control & Computation Group, IIT Bombay 11
Inverted Pendulum Control System
Backup Slides ...
Inverted Pendulum Control System 12
Control & Computation Group, IIT Bombay 12
Inverted Pendulum Control System
What is an Inverted Pendulum?
Inverted Pendulum Control System 13
An inverted pendulum is a pendulum which has its
mass above its pivot point.
Whereas a normal pendulum is stable when hanging
downwards, an inverted pendulum is inherently
unstable, and must be actively balanced in order to
remain upright by moving the pivot point horizontally
as part of a feedback system.
Control & Computation Group, IIT Bombay 13
Inverted Pendulum Control System
Real Examples
Inverted Pendulum Control System 14
Missles and Rockets
Control & Computation Group, IIT Bombay 14
Inverted Pendulum Control System
Real Examples
Inverted Pendulum Control System 15
Self Balancing Robots
Control & Computation Group, IIT Bombay 15
Inverted Pendulum Control System
Real Examples
Inverted Pendulum Control System 16
Future Transport Vehicles - Segways
Control & Computation Group, IIT Bombay 16
Inverted Pendulum Control System
Real Examples
Inverted Pendulum Control System 17
Or even ...
... “heavier bodies with an ambition to fly!” :-)
Control & Computation Group, IIT Bombay 17
Inverted Pendulum Control System
Modeling - Equations
Inverted Pendulum Control System 18
Control & Computation Group, IIT Bombay 18
