Title :
Real-Time Control of an Inverted Pendulum: A Comparative Study
Author :
Hamza, Mirza ; Zaka-ur-Rehman ; Zahid, Q. ; Tahir, F. ; Khalid, Zubair
Author_Institution :
Dept. of Electr. Eng., COMSATS Inst. of Inf. Technol., Islamabad, Pakistan
Abstract :
In this paper, we consider the problem of real-time control of an Inverted Pendulum. We design and implement four different control algorithms, namely PID, Pole placement, LQR and Fuzzy Logic. These controllers are applied to the Inverted Pendulum in real-time and their performance is compared on the basis of Pendulum regulation, disturbance rejection and control energy specifications. We also provide a performance comparison based on the ISE index.
Keywords :
fuzzy control; linear quadratic control; nonlinear control systems; pendulums; state feedback; three-term control; ISE index; LQR; PID control; control energy specifications; disturbance rejection; fuzzy logic control; inverted pendulum; pendulum regulation; pole placement; real-time control; Equations; Force; Fuzzy logic; MATLAB; Mathematical model; Real time systems; Simulation;
Conference_Titel :
Frontiers of Information Technology (FIT), 2011
Conference_Location :
Islamabad
Print_ISBN :
978-1-4673-0209-8
DOI :
10.1109/FIT.2011.41
