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Classical, Smart And Modern Controller Design Of Inverted Pendulum
"... The Inverted Pendulum is a very popular plant for testing dynamics and control of highly nonlinear plants. In the Inverted Pendulum Control problem, the aim is to move the cart to the desired position and to balance a pendulum at desired location. This paper represents stabilization of pendulum usi ..."
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The Inverted Pendulum is a very popular plant for testing dynamics and control of highly nonlinear plants. In the Inverted Pendulum Control problem, the aim is to move the cart to the desired position and to balance a pendulum at desired location. This paper represents stabilization of pendulum using PID, SVFB and Fuzzy Logic Control. In the mathematical model proposed here, a single rule base is used for angle of pendulum. The SVFB and fuzzy logic control scheme successfully fulfils the control objectives, it is found that FLC is found to be the best. The simulation results of all the controllers are
TUNING OF PID CONTROLLER OF INVERTED PENDULUM USING GENETIC ALGORITHM P. Kumar
"... The paper presents two different ways of mathematical modeling of Inverted Pendulum. A ProportionalIntegralDerative (PID) controller is designed for its stabilization. Some reference stable system is selected after designing of PID controller to optimize different types of error using Genetic Algo ..."
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The paper presents two different ways of mathematical modeling of Inverted Pendulum. A ProportionalIntegralDerative (PID) controller is designed for its stabilization. Some reference stable system is selected after designing of PID controller to optimize different types of error using Genetic Algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. A tuning mechanism is implemented by genetic algorithm for optimizing different gains of controller parameter. Also, different performance indices are calculated in MATLAB environment. This paper exhibits to demonstrate the capability of genetic algorithm to solve complex and constraint optimization problems and as a general purpose optimization tool to solve control system design problems. KeywordInverted pendulum,Mathematical modelling,swing up control,PID controller,Tuning,Genetic Algorithm,Performance Indeces,Error minimization. The inverted pendulum may be viewed as a classical problem in dynamics and control theory[1,9] and is widely used as a benchmark[16] for testing control algorithms(PID controllers, Linear Quadratic Regulator (LQR), neural networks, fuzzy logic
Tuning Of PID Controller Of Inverted Pendulum Using Genetic Algorithm
"... AbstractThis paper presents different types of mathematical modelling of Inverted Pendulum and also a ProportionalIntregalDerative (PID) controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error ..."
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AbstractThis paper presents different types of mathematical modelling of Inverted Pendulum and also a ProportionalIntregalDerative (PID) controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error has been optimized (minimized) by using Genetic algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. Also a tuning mechanism is done by genetic algorithm for optimizing different gains of controller parameter. Also here different performance indeces are calculated in MATLAB environment. This paper addresses to demonstrate the capability of genetic algorithm’s to solve complex and constraint optimization problems via utilizing GA’s as a general purpose optimizing tool to solve different control system design problems. Index TermsInverted pendulum,Mathematical modelling,swing up control,PID controller,Tuning,Genetic Algorithm,Performance Indeces,Error minimization. I.
Using Genetic Algorithm 1
"... This paper presents different types of mathematical modelling of Inverted Pendulum and also a ProportionalIntregalDerative (PID) controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error has been ..."
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This paper presents different types of mathematical modelling of Inverted Pendulum and also a ProportionalIntregalDerative (PID) controller is designed for its stabilization. After desiging of PID controller some reference stable system has been selected and then different types of error has been optimized (minimized) by using Genetic algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. Also a tuning mechanism is done by genetic algorithm for optimizing different gains of controller parameter. Alsohere different performance indeces are calculated in MATLAB environment. This paper addresses to demonstrate the capability of genetic algorithm’s to solve complex and constraint optimization problems via utilizing GA’s as ageneral purpose optimizing tool to solve different control system design problems.
CONTROLLER DESIGN OF INVERTED PENDULUM USING POLE PLACEMENT AND LQR P. Kumar
"... In this paper modeling of an inverted pendulum is done using Euler – Lagrange energy equation for stabilization of the pendulum. The controller gain is evaluated through state feedback and Linear Quadratic optimal regulator controller techniques and also the results for both the controller are compa ..."
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In this paper modeling of an inverted pendulum is done using Euler – Lagrange energy equation for stabilization of the pendulum. The controller gain is evaluated through state feedback and Linear Quadratic optimal regulator controller techniques and also the results for both the controller are compared. The SFB controller is designed by PolePlacement technique. An advantage of Quadratic Control method over the poleplacement techniques is that the former provides a systematic way of computing the state feedback control gain matrix.LQR controller is designed by the selection on choosing. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of two masses that slide along the horizontal plane is controllable.The results of computer simulation for the system with Linear Quardatic Regulator (LQR) & State Feedback Controllers are shown in section 6.