Control of an Inverted Pendulum: Swing up & Stabilization

A Seminar Presentation By: Mohammad Umar Rehman M. Tech. (Inst. & Control) Faculty No. 10-EEM-165

Outline
Introduction The Problem System Modeling & Stability Swinging up the pendulum Balancing & Stabilization Simplified FLC Simulation & Results Conclusion
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Introduction
The inverted pendulum system consists of a vertical rod pivoted at one end on a moving cart It represents a multivariable, inherently unstable, fast reacting, high order system Often used as a benchmark for verifying the performance of a new control method due to its simplicity Many engg. systems can be approximately modeled as pendula Standard part of the Control Engineering Curriculum

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The Good Old Days!

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System Schematic

x
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A Real Apparatus
Moving Cart

DC Motor

Pendulum

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The Problem
To bring the pendulum from its stable equilibrium (pending) position to the upward unstable equilibrium position and to balance it Hence, there are two tasks to be solved: and stabilization swinging up

There are various methods proposed in the literature but the energy control strategy proposed by strm [4] is a popular one A Fuzzy swinging algorithm is discussed and compared with the energy control strategy
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System Modeling
The system follows Lagrangian Mechanics Modeling is done by writing dynamical force (moment) equations for the cart(pendulum) The variables of interest (state variables) are: 1. Cart position, x, 2. Cart velocity, , 3. Pendulum position, & 4. Pendulum velocity, Other system parameters are described as follows
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System Parameters
S. No. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. Parameter/Symbol Acceleration due to gravity, g Cart mass, M Bob mass, mB Pole mass, mT Distance from pivot to the centre of bob, L Distance from pivot to the centre of pole, LT Moment of Inertia of the pole w. r. t. pivot, IT Radius of the dc motor shaft, R Moment of inertia of the belt wheel, Jpx Moment of inertia of the DC motor shaft, Jp
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Value/Units 9.81 m/s2 0.128 kg 0.063 kg 0.043 kg 0.33 m 0.17 m 4.14 104 kgm2 0.003 m 1.22 106 kgm2 3.33 107 kgm2
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Free Body Diagrams

L 2

N M

b (friction) F x,

L mg N

P Cart
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Pendulum
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ModelingContd
Dynamic equations are written for both the and the pendulum cart

Interactive forces (N & P have been eliminated) Force Balance Equation (for cart + pendulum in horizontal direction): F = ( M + m ) + bx + mL cos mL 2 sin x Torque Balance Equation (for pendulum in vertical direction) 2 ( I + mL ) + mgL sin = mLx cos
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Transfer Function
The linearized equations about = : + bx mL = u ( I + mL2 ) mgL = mL ( M + m) x x
mL : ( s ) = U (s ) q b( I + mL2 ) 2 ( M + m)mgL bmgL s3 + s s q q q s

( I + mL2 ) s 2 mgL X (s ) = 4 U (s ) q s + b( I + mL2 ) s 3 ( M + m)mgL s 2 bmgL s

where , q = ( M + m) I + mL - ( mL )
2

]
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State Space Model

The linear state model after incorporating actual numerical values is: 1 0 0 0 0 0 33.746 2.1107 1 5.3725 + u(t) x(t) = 0 0 0 0 0 39.327 0 17.724 0 111.33 1 0 0 0 T T C= , D = [ 0 0] 0 0 1 0 xT = x x and y T = [ x ]

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System Stability
Inputting the A matrix in MATLAB and typing (A) gives the eigen values as: 0,33.9570, 5.5677, 5.7777 Again typing rank(ctrb(A,B))gives ans = 4 The system is completely controllable! A suitable state feedback strategy can be now designed eig
UNSTABLE

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Swinging up the pendulum

Two strategies: Energy Control & Fuzzy rule based control are discussed It is required to determine the no. of swings k needed to swing up the pendulum from its pending position to the upright position k critically depends on the ratio of effective acceleration of the cart to the gravity acceleration i.e. n = eff/g When max. voltage of 10 V is applied on the dc motor the effective accn. is 3.5318 m/s2

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Contd

Time response of the accn on applying a max. voltage

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Swinging Zones

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Contd
strms [4] approach gives the value of k = 4 but cannot be implemented practically due to limited length of track/cart movement (0.5 m) Another approach by Chatterjee [5] considers limited movement and gives k = 6 but the control law proposed is complicated and requires exact measurement of the system variables Fuzzy Control [1] comes in to play at this point. The input variables are x, , and output variable is voltage
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Contd
Rule base consists of 34 rules. The rules are so constructed to increase the pendulum energy Simulation results show that k = 5 (for real time implementation k = 7) The main advantage of FLC is that accurate measurements are not needed and is not affected by parameter changes & disturbances Stability depends on proper design of the rule base

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Simulink Model

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Simulation Results (Angle)

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Simulation Results (Position)

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Balancing the Pendulum

Pendulum is balanced (stabilized) using state feedback law u = Kx Gain matrix K is calculated using LQR such that cost T T function J = x Qx + u is minimized Ru dt

For Q = diag[0.25 0 4 0] & R = 0.0003 K = [28.867 35.198 137.6 13.027] LQR design guarantees stability of the state controller
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Real Time Implementation Results

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Real Time Implementation Results

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Simplification in the FRB

34 is a large no. for the rules Another approach by Nigam [2] combines errors/change in errors in position and angle into a single error e and change in error de There are only 9 rules in the rule base. Strategy is similar to the previous one
de e N Z P N N N Z Z N Z P P Z P P
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Simulation Results (Angle)

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Simulation Results (Position)

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Conclusion
Inverted pendulum system represents an important control problem and will continue to serve control engg. as new theories evolve Energy control is a convenient strategy for swing up of the pendulum But Fuzzy control approach performs even better than that Pendulum must be stabilized in the upright position using an appropriate strategy

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Video
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References to edit Master text styles Click

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Second level Third level Fourth level Tovornik, Boris & Nenad Mukinja Swinging Up and Stabilization of Fifth level a Real Inverted Pendulum, IEEE Transactions on Industrial

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Electronics, Vol. 53, No. 2, pp. 631-639, April 2006. (doi: 0.1109/TIE.2006.870667) Nigam, M. J. et. al. , Fuzzy Swing-up and Stabilization of Real Inverted Pendulum using Single Rulebase, Journal of Theoretical & Applied Information Technology, Vol. 6, No. 14, pp. 43-50, 2011. Nasir, Ahmad Bin, Mohd. Fuaad, Modeling And Controller Design For An Inverted Pendulum System, M. E. Thesis, University Teknologi Malaysia, Johor Baru, Malaysia, April 2007. strm, K. J. & K. Furuta, Swinging up a pendulum by energy control,Automatica, vol. 36, no. 2, pp. 287295, Feb. 2000. D. Chatterjee et. al., Swing-up and stabilization of a cart-pendulum system under restricted cart track length, Syst. Control.Lett., vol. 47, no. 11, pp. 355364, 2002.
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Thank You!!

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Queries
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