Applied Mechanics and Materials Vols 644-650 (2014) pp 142-145 Submitted: 2014-07-18

© (2014) Trans Tech Publications, Switzerland Accepted: 2014-07-21

doi:10.4028/www.scientific.net/AMM.644-650.142 Online: 2014-09-22

Modeling and PID control of single-stage inverted pendulum system

Jin Yu-qiang1,a, Lei Jun-wei2,b, Liu Di2,c
1
Department of Training, Naval Aeronautical and Astronautical University, Yantai Shandong
264001, China,
2
Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai
Shandong 264001, China,
a
Jinyuqiang10241024@126.com, bleijunwei@126.com, cliudi5388466@163.com

Keywords: inverted pendulum; modeling; pid control; transfer function; linearization

Abstract.The dynamic model is obtained based on researching the structure of single inverted
pendulum system in this paper. Mathematical model of inverted pendulum that is close to the working
point is deduced by linearization. A PID control algorithm is put forward by analyzing the factor of
influencing inverted pendulum stability. The effectiveness of proposed algorithm is verified by
simulation. This algorithm has the features of high control precision and good stability.

Introduction
Single-stage inverted pendulum system is a high order time, unstable, multivariable, nonlinear and
strong coupling system. Its structure is similar to the person on one foot. It is the most simplified
model of many controlled objects, such as biped walking robot and vertical posture of rockets. So it
has very important significance for a bipedal robot development research[1]. Many problems existing
in the industrial application and the robot system are revealed by the research of inverted pendulum
system, such as nonlinear characteristics of system, saturation phenomenon of actuator as well as
some physical variables with constraint conditions in system. So the control problem of inverted
pendulum system is used to test the effectiveness of the new control theory and algorithm. It is more
ideal experimental algorithm in control theory. The research of variable structure control algorithm
based on the mechanism of single-stage inverted pendulum has important theoretical significance and
practical application value[2].

The motion equation of single-stage inverted pendulum system

The kinematics equation of inverted pendulum system can be derived by application of newton
mechanics.
 M
x
+ N = F − bx

 N = m
x
+ mlθ

cos θ − mlθ
2 sin θ
 （ 1）





 P − mg = −mlθ sin θ − mlθ cos θ
 − pl sin θ − Nl cos θ = Iθ


Because of θ = π + φ , cos θ = − cos φ , sinθ = −sinφ , there is minus sign in front of the equation[3].
About to go to the P and N, getting the equation:
( M + m)
x
+ bx
+ mlθ

cos θ − mlθ
2 sin θ = F （ 2）
( M + m)
x
+ mgl sin θ = −ml
x
cos θ （ 3）

Transfer function derived and state space equations

The linearization model of single-stage inverted pendulum system
Assumption θ = π + φ , φ compared with 1 (unit is the radian) is very small, φ is far less than 1,
The method of approximate processing is used.

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 Applied Mechanics and Materials Vols. 644-650 143

2
 dθ 
cos θ = −1, sin θ = −φ ,   =0
 dt  （ 4）
Assumption: u represents the input force F of controlled object, equation (2) and equation (3) are
linearized.[4]
 ( I + ml 2 )φ

− mglφ = ml
x

 （ 5）



( M + m)
x
+ bx
− mlφ = u
1
Among them: I = ml 2 .
2
So the state equations of inverted pendulum are:


3 g ( M − m) −3
θ = l (4 M + m) θ + l (4 M + m) F
 （ 6）
− 3mg 4

x
= θ− F
 4M + m ( 4 M + m)
The laplace transform of formula (5) is:
 ( I + ml 2 )Φ ( s ) s 2 − mglΦ ( s ) = mlX ( s ) s 2
 2
（ 7）
( M + m) X ( s ) s + bX ( s) s − mlΦ( s ) s = U ( s )
When the initial conditions is 0, because the output angle is φ ， the first equation of equations is:
 ( I + ml 2 ) g 
X ( s) =  − 2  Φ( s) （ 8）
 ml s 
Type (8) substitution into the second equation of type (7) is:
 ( I + ml 2 ) g   ( I + ml 2 ) g  （ 9）
( M + m)  − Φ (s) s 2 + b  + 2 Φ ( s) s − mlΦ( s) s 2 = U ( s )
 ml s  ml s 
Getting:
ml
s
Φ ( s) q num （ 10）
= 2
=
U ( s) b( I + ml ) 2 ( M + m) mgl bmgl den
s3 + s − s−
q q q
Among them： q = [( M + m)( I + ml 2 ) − (ml 2 )] [5]。
The transfer functions and state equations of single-stage inverted pendulum system
1） The transfer function of swinging rod angle and displacement of the car:
Φ( s) 0.02725s 2
= （ 11）
X ( s ) 0.0102125s 2 − 0.26705
2） the transfer function of swinging rod angle and acceleration of the car:
Φ(s) 0.02725
= （ 12）
V ( s ) 0.0102125s 2 − 0.26705
3） the transfer function of swinging rod angle and external force of the car:
Φ ( s) 2.35655s
= 3
U ( s ) s + 0.0883167 s 2 − 27.9169s − 2.30942 （13）
4）the system state equation with outside forces as the input:
 x
 0 1 0 0  x   0 

x
 0 − 0.0883167 0.629317   
0  x
 0.883167 

 = = + u
φ
 0 0 0 1 φ   0 


      
φ  0 − 0.235655 27.8285 0 φ
  2.35655  （ 14）
144 Machine Tool Technology, Mechatronics and Information Engineering

5） the system state equation with the car acceleration as the input：
 x
 0 1 0 0   x   0

x
 0 0 0 0  x
 1
 = + u′
φ
 0 0 0 1 φ  0 （15）


   
  
φ  0 0 29.4 0 φ  3
 x
 
 x  1 0 0 0  x
 0
y= =  +   u′
φ  0 0 1 0 φ  0


φ 

PID control algorithm of sngle-stage inverted pendulum

In linear control systems, the control law that is the most commonly used by controller is PID
control. Conventional PID control system principle block diagram is shown in figure 1.System is
composed of analog PID controller and the controlled object.
Proportion

controlled
Integral
object

Differential

Figure 1 Conventional PID control system principle block diagram

PID controller is a linear controller. Control deviation is constituted according to given value
r (t ) and actual output value c(t ) [6].
e(t ) = r (t ) − c(t ) （16）
Proportion, integral and differential of deviation constitutes control volume by the linear
combination. The expression of control law is
u = K P e + K d e
+ K i ∫ edt （ 17）
In type, e is the deviation of system. K P、K d 、K i are proportion, differential and integral time
constants of PID controller respectively[7].

Simulation results
The bode graph and nyquist graph of system are shown in figure 2.
Bode Diagram
Gm = -11.6 dB (at 1.41 rad/sec) , Pm = 81.2 deg (at 25.9 rad/sec)
Phase (deg)Magnitude (dB)

100

-100
0

-180

-360
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

Nyquist Diagram
100

50
Imaginary Axis

-50

-100
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

Figure 2 The bode graph and nyquist graph of system using the PID control
 Applied Mechanics and Materials Vols. 644-650 145

It can be seen from nyquist diagram that curve counterclockwise week around - 1 point. So the
correction system is stability.
The unit step response of PID control system is shown in figure 3.
1.4
data1
data2
1.2

Amplitude(rad)
0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
Time(sec)

Figure 3 The graph of PID control unit step response

It can be seen that achieving stability time is about 5 s from unit step response curve of swinging
rod. Steady-state error is zero. The stability of system is good. The overshoot of system is small. The
effect of simulation is better.

Conclusion
The model of single-stage inverted pendulum system is carried on strict theoretical analysis in this
paper. PID control method is applied to realize the displacement control of car. Using this algorithm
can realize the stability of system in 0.5 s time by simulation. Control precision is improved. The
dynamic characteristic, the robustness and anti-interference of system are improved.

References
[1] W.R.Sturegeon and M.V.Loscutoff. Application of modal control and dynamic observers
tocontrol of a double inverted pendulum[J]. Proc.JACC,Stanford,1972,857-865.
[2] S. Mori,H. Nishihara and K.Furuta. Control of unstable mechanical system control of
pendulum[J] Int.J Control 23, 673-692,1976.
[3] Tasuku Hoshino,Katsubusa Furuta. Stablibization of 2-D inverted pendulum via partial exact
linear iza tion[A]. Proc of the 2nd Asian Control Conf[C]. Seoul,1977,495-498.
[4] FURUTA K,HIROYUKI K,KOSUGE K. Digital control of a double inverted pendulum on an
inclined rail[J].International Journal of Control,1980,32:907-924.
[5] FURUTA K,OCHIAI T,ONO N. Attitude control of a triple inverted pendulum[J].International
Journal of Control ,1984,39:1321-1365.
[6] J.W.Watts.Control of an inverted pendulum[C].ASEE Annual Conference,session2527,
1984,706-710.
[7] Charier W.Andorson. Learning to Control an Inverted Pendulum Using Neural Networks
[J].IEEE Con trol System Magazine,1989:31-36.
Machine Tool Technology, Mechatronics and Information Engineering
10.4028/www.scientific.net/AMM.644-650

Modeling and PID Control of Single-Stage Inverted Pendulum System

10.4028/www.scientific.net/AMM.644-650.142