Feedforward and Feedback Control of an Inverted Pendulum

Yun Feng Wu; Zhu Ming; Ke Chang Fu

doi:10.4028/www.scientific.net/AMR.328-330.2194

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 328-330Feedforward and Feedback Control of an Inverted...

Feedforward and Feedback Control of an Inverted Pendulum

Abstract:

A feedforward-feedback controller (FFC), which is constructed by a feedforward controller and conventional PID in the global control scheme, is presented to control Inverted Pendulum in this paper. The angle of the swing-bar is defined as controlled variable for the controlled system and the displacement of swing-bar is taken as the disturbance. The feedback controller is used to control the angle and the feedforward controller is used to compensate for the displacement. Experiment results show that the proposed controller is of better control performance than the PID control scheme with two loops and the neural network control (NNC) scheme designed by Googol Technology (HK) Ltd.

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Periodical:

Advanced Materials Research (Volumes 328-330)

Pages:

2194-2197

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.328-330.2194

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Online since:

September 2011

Authors:

Yun Feng Wu, Zhu Ming, Ke Chang Fu

Keywords:

Feedforward-Feedback Controller, Inverted Pendulum, PID

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References

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