Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
492868 | Procedia Technology | 2014 | 8 Pages |
Abstract
The paper proposes a simplified solution of the control problem of the rotational inverted pendulum. The rotational inverted pendulum (RIP) is a complex system, widely studied in many areas due to its complexity and nonlinearities. The control strategy is divided into two subproblems, the swing-up control of the pendulum using a PD cascade scheme and the balance/stabilizing control of the whole system using a fuzzy-PD regulator. The switching mode between these subproblems is also considered. The plant, the swing-up control and the stabilizing system are modeled and studied in the Matlab/Simulink environment.
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