Modeling and PID Control of Single-Stage Inverted Pendulum System

Yu Qiang Jin; Jun Wei Lei; Di Liu

doi:10.4028/www.scientific.net/AMM.644-650.142

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 644-650Modeling and PID Control of Single-Stage Inverted...

Modeling and PID Control of Single-Stage Inverted Pendulum System

Abstract:

The dynamic model is obtained based on researching the structure of single inverted pendulum system in this paper. Mathematical model of inverted pendulum that is close to the working point is deduced by linearization. A PID control algorithm is put forward by analyzing the factor of influencing inverted pendulum stability. The effectiveness of proposed algorithm is verified by simulation. This algorithm has the features of high control precision and good stability.

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Periodical:

Applied Mechanics and Materials (Volumes 644-650)

Pages:

142-145

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.644-650.142

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Online since:

September 2014

Authors:

Yu Qiang Jin*, Jun Wei Lei, Di Liu

Keywords:

Inverted Pendulum, Linearization, Modeling, PID Control, Transfer Function

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* - Corresponding Author

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