Inverted Pendulum Notes

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?

Real Examples
● Rockets and Missiles
● Heavy Cranes lifting containers in shipyards
● Self balancing Robots
● Future Transport Systems like:
– Segways
– Jetpacks!

Mathematical Modeling

(1)
(2)
TF:

Open Loop Impulse Response

PI Controller

PID Controller

Closed Loop Transfer Function

Thank you!
=
Q & A?...

Backup Slides ...


Real Examples

Real Examples

Real Examples

Real Examples

Modeling - Equations

Inverted Pendulum Control System
Inverted Pendulum
Control System
Krishnan Pandalai
Manav Kataria 1
Control & Computation Group, IIT Bombay 1

Outline
● What is an Inverted Pendulum?
● Real-life Examples
● Mathematical Modeling
● Need for a Controller
● Requirement Specifications
● Implementing a Controller
● Conclusion

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.

Real Examples
● Rockets and Missiles
● Heavy Cranes lifting containers in shipyards
● Self balancing Robots
● Future Transport Systems like:
– Segways
– Jetpacks!
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


(1)
(2)
TF:
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)

Open Loop Impulse Response
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

PI Controller
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.

PID Controller
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

Closed Loop Transfer Function
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,

Thank you!
=
Q & A?...

Backup Slides ...

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.

Real Examples
Missles and Rockets

Real Examples
Self Balancing Robots

Real Examples
Future Transport Vehicles - Segways

Real Examples
Or even ...
... “heavier bodies with an ambition to fly!” :-)

Modeling - Equations

Inverted Pendulum Notes

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What is an inverted pendulum?

What is an inverted pendulum?

What are some real-life examples of inverted pendulums?

What are some real-life examples of inverted pendulums?

Inverted Pendulum

Inverted Pendulum Control System 2

Inverted Pendulum Control System 3

Inverted Pendulum Control System 4

Inverted Pendulum Control System 5

Inverted Pendulum Control System 6

Inverted Pendulum Control System 7

Inverted Pendulum Control System 8

Inverted Pendulum Control System 9

Inverted Pendulum Control System 10

Inverted Pendulum Control System 11

Inverted Pendulum Control System 12

Inverted Pendulum Control System 13

Inverted Pendulum Control System 14

Inverted Pendulum Control System 15

Inverted Pendulum Control System 16

Inverted Pendulum Control System 17

Inverted Pendulum Control System 18

Control & Computation Group, IIT Bombay 1

Inverted Pendulum Control System 2

Control & Computation Group, IIT Bombay 2

What is an Inverted Pendulum?

Inverted Pendulum Control System 3

An inverted pendulum is a pendulum which has its

Whereas a normal pendulum is stable when hanging

Control & Computation Group, IIT Bombay 3

Inverted Pendulum Control System 4

The inverted pendulum is related to rocket or missile

The Segway is a two-wheeled, self-balancing electric

Control & Computation Group, IIT Bombay 4

Inverted Pendulum Control System 5

Control & Computation Group, IIT Bombay 5

Inverted Pendulum Control System 6

Using Newton's laws of Motion and Forces we obtain a

These equations are obtained by equating

The transfer function of the system indicates that this is

Control & Computation Group, IIT Bombay 6

Open Loop Impulse Response

Inverted Pendulum Control System 7

Observe the system's velocity response to an

In order to bring the Pendulum under control, by

Control & Computation Group, IIT Bombay 7

Inverted Pendulum Control System 8

We use a PID controller:

With just Proportional-Integral controller

Control & Computation Group, IIT Bombay 8

Inverted Pendulum Control System 9

We use a PID controller:

With just Proportional-Integral-Derivative controller

Control & Computation Group, IIT Bombay 9

Closed Loop Transfer Function

Inverted Pendulum Control System 10

Design Not Feasible for a Actual Physical System:

Control & Computation Group, IIT Bombay 10

Inverted Pendulum Control System 11

Control & Computation Group, IIT Bombay 11