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
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;
Conference_Titel :
India Conference (INDICON), 2014 Annual IEEE
Conference_Location :
Pune
Print_ISBN :
978-1-4799-5362-2
DOI :
10.1109/INDICON.2014.7030563
