Inverted pendulum with moving reference for benchmarking control systems performance

Author

Khan, Jehandad ; Munawar, Khalid ; Azeem, Raja Amer ; Salman, Muhammad

Author_Institution

Coll. of Electr. & Mech. Eng., Nat. Univ. of Sci. & Technol., Rawalpindi, Pakistan

fYear

2009

fDate

10-12 June 2009

Firstpage

3764

Lastpage

3768

Abstract

This paper presents inverted pendulum with moving reference for the testing of stabilizing control algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of the two masses, that slide along the horizontal plane, is controllable for the purpose of platform stabilization. The usefulness of the idea presented is demonstrated using computer simulations by employing proportional integral derivative (PID) control law.

Keywords

MIMO systems; motion control; nonlinear control systems; nonlinear dynamical systems; pendulums; stability; three-term control; MIMO system; PID; computer simulation; control system performance benchmarking; motion control; moving reference-based inverted pendulum; nonlinear dynamical system; proportional integral derivative control law; stabilization algorithm testing; Benchmark testing; Computer simulation; Control system analysis; Control systems; Hardware; MIMO; Mobile robots; System performance; System testing; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5160094

Filename

5160094