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Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System

This paper presents a real time control technique to stabilize inverted pendulum in the vertical upright position. Stabilize the inverted pendulum is a classical control problem that could be related to some problems in industrial applications. Two common problems that always been encountered by i...

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Main Authors: M.A.H., M.Nazri, Jali, Mohd Hafiz, Hafez , Sarkawi
Format: Conference or Workshop Item
Language:English
Published: 2013
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utem.edu.my/id/eprint/12974/1/Prosiding_ict_rcsb.pdf
http://eprints.utem.edu.my/id/eprint/12974/
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spelling my.utem.eprints.129742015-05-28T04:28:42Z http://eprints.utem.edu.my/id/eprint/12974/ Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System M.A.H., M.Nazri Jali, Mohd Hafiz Hafez , Sarkawi TK Electrical engineering. Electronics Nuclear engineering This paper presents a real time control technique to stabilize inverted pendulum in the vertical upright position. Stabilize the inverted pendulum is a classical control problem that could be related to some problems in industrial applications. Two common problems that always been encountered by inverted pendulum system is unstable behavior and nonlinear. This lead to numerous studies on the control algorithm to balance the inverted pendulum system in the vertical upright position. Generally, inverted pendulum is mounted on DC motor and is equipped with sensor to measure angular displacement. Inverted pendulum has the same analogy with human that try to balance a broomstick using fingertip. Balancing the Inverted Pendulum requires a good control system. Therefore an optimal control technique is proposed to achieve desired design requirement which are less than 5% overshoot and less than 5 seconds settling time. The controller is optimized to achieve the best performance result. Finally the performance of the controller is compared with PID controller as a benchmark. 2013-07-02 Conference or Workshop Item NonPeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/12974/1/Prosiding_ict_rcsb.pdf M.A.H., M.Nazri and Jali, Mohd Hafiz and Hafez , Sarkawi (2013) Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System. In: Seminar Hasil Penyelidikan Sektor Pengajian Tinggi Kementerian Pendidikan Malaysia, Ke-3, 2-3 Julai 2013, EDC, Universiti Utara Malaysia.
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
M.A.H., M.Nazri
Jali, Mohd Hafiz
Hafez , Sarkawi
Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System
description This paper presents a real time control technique to stabilize inverted pendulum in the vertical upright position. Stabilize the inverted pendulum is a classical control problem that could be related to some problems in industrial applications. Two common problems that always been encountered by inverted pendulum system is unstable behavior and nonlinear. This lead to numerous studies on the control algorithm to balance the inverted pendulum system in the vertical upright position. Generally, inverted pendulum is mounted on DC motor and is equipped with sensor to measure angular displacement. Inverted pendulum has the same analogy with human that try to balance a broomstick using fingertip. Balancing the Inverted Pendulum requires a good control system. Therefore an optimal control technique is proposed to achieve desired design requirement which are less than 5% overshoot and less than 5 seconds settling time. The controller is optimized to achieve the best performance result. Finally the performance of the controller is compared with PID controller as a benchmark.
format Conference or Workshop Item
author M.A.H., M.Nazri
Jali, Mohd Hafiz
Hafez , Sarkawi
author_facet M.A.H., M.Nazri
Jali, Mohd Hafiz
Hafez , Sarkawi
author_sort M.A.H., M.Nazri
title Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System
title_short Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System
title_full Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System
title_fullStr Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System
title_full_unstemmed Real-Time Optimal Control Technique of A Rotary Inverted Pendulum System
title_sort real-time optimal control technique of a rotary inverted pendulum system
publishDate 2013
url http://eprints.utem.edu.my/id/eprint/12974/1/Prosiding_ict_rcsb.pdf
http://eprints.utem.edu.my/id/eprint/12974/
_version_ 1665905520430546944
score 13.211869

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