Title :
Generalized PI control for swinging up and balancing the inertia wheel pendulum
Author :
Hernández, Victor M. ; Sira-Ramirez, Hebertt
Abstract :
In this note we present an application of generalized PI (GPI) control scheme to the swinging up and stabilization around its unstable vertical position of the inertia wheel pendulum. Both tasks are achieved using a single GPI controller evading, in this way, the common practice of switching between two different controllers. The pendulum angular position is assumed to be the only measured output variable. We design two different GPI control strategies. One of them is based on sliding modes. The other one is pure GPI control. We shoe that both of them are robust with respect to torque load disturbances. Each one of the developed controllers is used in the experimental setup.
Keywords :
PI control; control system synthesis; mechanical stability; nonlinear control systems; pendulums; position control; variable structure systems; generalised PI control; generalized proportional integral; inertia wheel pendulum balancing; inertia wheel pendulum swinging up; pendulum angular position; sliding modes; torque load disturbances; Control systems; Extraterrestrial measurements; Linear systems; Mechanical systems; Mechanical variables control; Pi control; Position measurement; Sliding mode control; Velocity control; Wheels;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1243748
