DocumentCode
255634
Title
Design of PID controller for inverted pendulum using stability boundary locus
Author
Hanwate, S.D. ; Hote, Y.V.
Author_Institution
Dept. of Electr. Eng., Indian Inst. of Technol., Roorkee, Roorkee, India
fYear
2014
fDate
11-13 Dec. 2014
Firstpage
1
Lastpage
6
Abstract
In this paper, PID controller has been designed for cart inverted pendulum system. The proposed approach is based on newly developed concept of stability boundary locus. The main advantage of this approach is that the cart oscillations has been minimized and angle of pendulum is stabilizes with minimum settling time. The results are also compared with the recently proposed approach of PID and LQR controller. The results are simulated in Matlab environment.
Keywords
control system synthesis; linear quadratic control; nonlinear control systems; pendulums; stability; three-term control; LQR controller; Matlab environment; PID controller; cart inverted pendulum system; stability boundary locus; Equations; Mathematical model; Oscillators; Position control; Rockets; Stability analysis; Tuning; Inverted Pendulum System; LQR; PID; Stability Boundary locus;
fLanguage
English
Publisher
ieee
Conference_Titel
India Conference (INDICON), 2014 Annual IEEE
Conference_Location
Pune
Print_ISBN
978-1-4799-5362-2
Type
conf
DOI
10.1109/INDICON.2014.7030563
Filename
7030563
Link To Document