An educational virtual laboratory for sliding mode and PID control of inverted pendulum

Author

Demirtas, Metin ; Altun, Yusuf ; Istanbullu, Ayhan

Author_Institution

Dept. of Electr. & Electron. Eng., Balkesir Univ., Balkesir

fYear

2008

fDate

22-24 May 2008

Firstpage

149

Lastpage

156

Abstract

This paper presents a new tool which teaches sliding mode control (SMC) and proportional-integral- derivative (PID) control to undergraduate and graduate students without laboratory. This educational virtual laboratory tool contains the control of inverted pendulum on the cart. This system is typical example of nonlinear and under-actuated systems. This system is also well known in control engineering for practice of various control theories. At first, the nonlinear dynamic equations of the inverted pendulum are obtained. Then a virtual laboratory tool is designed for SMC and PID. After that the simulation results are analyzed.

Keywords

nonlinear control systems; nonlinear dynamical systems; pendulums; student experiments; three-term control; variable structure systems; educational virtual laboratory tool; inverted pendulum; nonlinear dynamic equations; nonlinear systems; proportional-integralderivative control; sliding mode control; under-actuated systems; Control engineering; Control theory; Laboratories; Nonlinear dynamical systems; Nonlinear equations; PD control; Pi control; Proportional control; Sliding mode control; Three-term control; Inverted pendulum; PID control; educational virtual laboratory; sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Optimization of Electrical and Electronic Equipment, 2008. OPTIM 2008. 11th International Conference on

Conference_Location

Brasov

Print_ISBN

978-1-4244-1544-1

Electronic_ISBN

978-1-4244-1545-8

Type

conf

DOI

10.1109/OPTIM.2008.4602514

Filename

4602514