Stabilization control of rotary inverter pendulum system with double-PID and LQR controller

Pang, Kee Kiat (2015) Stabilization control of rotary inverter pendulum system with double-PID and LQR controller. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Rotary inverted pendulum (RIP) system is a well-known control system with its non-linearity and underactuated system. There are many applications of RIP system in industry especially the application of balancing of a robot. The RIP system in this project is driven by DC Servo motor. The DC Servo motor is used because it is easy to setup and control, has precise rotation and most importantly is low cost. As for RIP system itself, has smooth motion, not easy to wear out and high mechanical efficiency. However problems will occur when inverted pendulum of the RIP system is required to stable at an upright position. The non-linearity and underactuated characteristics cause the system to be highly unstable when maintaining at upright position. Therefore, the objective of this project is to propose double Proportional-Integral-Derivative (PID) and Linear Quadratic Regulator (LQR) controller to stable the inverted pendulum at an upright position by a rotary arm which is actuated by a DC Servo motor. The performance between the double-PID and LQR controller is compared in order to validate the performance of each controller. Mathematical modelling of the RIP system is carried out to obtain a state space model of the RIP system for ease of designing controller. Designing of double-PID and LQR controller is carried out in two phases. In Phase 1, LQR controller is designed for a basic stabilization control. In phase 2, double-PID controller is designed based on the RIP system with LQR controller for improving the stabilization performance. Throughout all the designing procedure, the stabilization performance of inverted pendulum and settling time are examined and compared. At the end of this project, double-PID with LQR controller was designed successfully to stable the RIP system.

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