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Inverted Pendulum Notes
Inverted Pendulum Notes
Control System
Krishnan Pandalai
Manav Kataria
Outline
Real-life Examples
Mathematical Modeling
Requirement Specifications
Implementing a Controller
Conclusion
Inverted Pendulum Control System
Real Examples
Segways
Jetpacks!
Mathematical Modeling
Mathematical Modeling
(1)
(2)
TF:
PI Controller
PID Controller
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Thank you!
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Q & A?...
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Real Examples
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Real Examples
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Real Examples
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Real Examples
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Modeling - Equations
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Inverted Pendulum
Control System
Krishnan Pandalai
Manav Kataria 1
Inverted Pendulum Control System
Outline
Real-life Examples
Mathematical Modeling
Requirement Specifications
Implementing a Controller
Conclusion
Real Examples
Segways
Jetpacks!
Mathematical Modeling
Mathematical Modeling
(1)
(2)
TF:
PI Controller
PID Controller
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,
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Thank you!
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Q & A?...
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Real Examples
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Real Examples
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Real Examples
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Real Examples
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Or even ...
... heavier bodies with an ambition to fly! :-)
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Modeling - Equations
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