Implementation of Inverted Pendulum Control, Plunks On Miscellaneous Tactics

International Journal of Electrical & Computer Sciences IJECS-IJENS Vol:12 No:04
45
Implementation of Inverted Pendulum Control,

Plunks on Miscellaneous Tactics
A. Tahir1, and J. Yasin2
Abstract The balancing of an Inverted Pendulum by
moving a cart in horizontal direction is an orthodox hitch in the
region of control theory and engineering. This paper inspects the
nonlinear model designing, system analysis, and control
implementation of Inverted Pendulum. In order to regulate the
whole set-up (i.e., both cart and pendulum), three different
control tactics are experimented. These blueprints are designed
in such a way that their recitals describe the settled consequences
at
. Performances about regulation and control energy
specifications of proposed techniques are also examined.
Index Term Single Input Multiple Output, Proportional
Integral Derivative, Proportional Derivative, Sliding Mode
Control.
I.
INTRODUCTION
Stabilization of an Inverted Pendulum is one of the most

fundamental problems in control engineering [1]. For this type
of regulatory problem, many researchers have developed
various control methodologies [2]. However, it is still an
active region of research due to its broad applications in rocket
technology, missile guidance, seismometers, and in avionics
systems (e.g. air planes, ships, mobile robots, and
automobiles) [3][4]. Therefore, it is proven to be a best
benchmark for testing a wide range of classical as well as
modern control technologies.
An Inverted Pendulum is a simple pendulum that is held
at upright vertical position. It consists of a cart and a simple
rod (with or without bob). These basic components are
coupled to each other on a single board. The cart is
responsible for mechanical back and forth movement in
horizontal direction only [5]. Whereas, the bob hinged on a
cart, is capable of rotating around its pivot point [5]. The aim
of this work is to design non linear Inverted Pendulum model,
analysis of the system performance, and the implementation of
different control schemes. This paper focuses on: (1) the
balancing of the pendulum at its erected point, and (2) the
stabilization of the cart at its preferred location. Performances
as well as control energy requirements for the projected
control proposals are also examined.
A. Tahir
anam_zona@yahoo.com
J. Yasin
jawad.yasin@gmail.com
Modeling, analysis, and nonlinear control design of an

Inverted Pendulum plant are discussed by Torres-Pomales et.
al. [6]. Implemented control designs are based on stabilization
of pendulums position and arm tracking. For the purposes of
regulation and tracking within the region of attraction, a
sliding mode control (SMC) technique and variable gain
Proportional Integral Derivative (PID) controllers are of
interest. Results illustrate that the positions of pendulum and
arm are stable after 3, and 5 seconds respectively.
Authors in [7] describe the swing up control of Inverted
Pendulum with the help of energy control technique. Three
Lyapunovs functions are introduced and thus for each
function, controllers are designed. By switching the control
among these three controllers, swing up control mechanism of
the pendulum is achieved. Simulation consequences depict
that the pendulums angle switches its position continuously
from 0 to 6.28 radians at 3 seconds to onwards.
In order to balance the linear Inverted Pendulums angle, the
Proportional Sliding Mode Control (PSMC) design is
projected by Banrejee et. al. [5]. Performance comparisons are
done with Fuzzy and Proportional Integral Derivative (PID)
control mechanisms. However, the settling time of
pendulums angle using PID, Fuzzy, SMC, and proposed
PSMC are after 10, 5, 15 and 5 seconds respectively.
The Proportional Integral Derivative (PID) and
Proportional Derivative (PD) controllers are the simplest form
of feedback control designs. These are most commonly used,
and widely accepted in control engineering. Whereas, the
Sliding Mode Control (SMC) strategy is highly robust in
nature that has many advantages over the above mentioned
traditional methods. This paper is systematized in the
following parts. Modeling of Inverted Pendulum is described
in second section. Conventions, parameter standards, and
system analysis are also presented under second sub sections.
Third segment deals with the designing portion, where the
Inverted Pendulum control is implemented with the use of
three different ideas. End results and their analysis are worked
out under fourth fragment. In five, conclusions and future
effort are portrayed.
II.
ARITHMETICAL MOLDING
Let an arrangement consisting of cart-pole system shown in

Fig. 1.
1211504-4747-IJECS-IJENS August 2012 IJENS
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46
plane. And, angular rotation of pendulum is well thought-out

to be positive in the right half s-plane.
B.
Parameter Standards
Following are the assigned values to the Inverted Pendulum
system parameters.
TABLE I
System Parameters [8]
Fig. 1. Inverted Pendulum
Using balancing equations, the nonlinear model for

the Inverted Pendulum is derived as,
m e ml sin 2 ml cos F
me cos ml ma sin 0
(1)
Its equivalent state space representation is,
0
m n po cos
lq
lq

0 F
pr ao 1
2.63 Kg
0.162 Kg
0.255 m
9.8 m/s2
C.
System Analysis
Inverted Pendulum is a Single Input Multiple Output (SIMO)
electromechanical system. Also, it is a non-minimum phase,
under actuated, nonlinear system, and highly an open loop
unstable in nature. This system has four open loop poles,
which are located at:
0, 2.9677, 2.9677
(4)
Therefore, this type of organization behavior defines the most

difficult problems in the field of engineering.
III.
A.
Where,
PROJECTED CONTROLLERS
Proportional Integral Derivative (PID)
Design
The PID controller is one of the basic widely acceptable
schemes in industry. Classical PID technology is based on
Single Input Single Output (SISO) systems. Therefore,
proposed method is described in Fig. 2.
n a sin 1 ,
o m sin 1 cos 1 ,
p l 22 ,
q m m cos 2 1 ,
And,
r m sin 1
PID
Theta
Plant
X
The output block is given as,
1

1 0 0 0 2
f C

0 0 1 0 3

Assigned Values
m
l
a
Where, , m, and l symbolize the mass of the cart, mass of the

bob, and pendulum rod length respectively.
0,
(2)
Parameters
Fig. 2. Block Diagram of Single PID Controller
(3)
Fig. 2 illustrates that the control force is,
F H d e H p e H i edt
A.
Conventions
Force that is applied to the system is considered positive on
the right side. Linear displacement is negative on left half
(5)
Single PID angle controller is used to balance the whole

network. For enhanced performance, tuning the planned
controller yielded the following inserted values.
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TABLE II
Single PID, Inserted Values
System
Type of Values
Zeros
Pendulum
-0.6250.696i
47
From the above equations, when

control equivalent has the given values as,
1
cos 1
c lq m n po
1
in (7), the
(10)
e c3 4 q pr oa
B.
Proportional Derivative (PD) Design
In order to stabilize pendulum while reducing settling time,
following block diagram is implemented.
+
+
PD
Theta
Plant
X
For the continuation of control laws, the system has some

given design restrictions,
F Hd e H pe
1 d
(11)
2 dt
s 2 s
(12)
System courses strike at the sliding surface in a limited time.

This is due to the severely positive constant .
(6)
Single PD angle and cart controller is used in Fig. 3.

Following values are introduced in tuning the controller.
Type of Values
Zeros
Pendulum
0, -1.43
A.
C.
Sliding Mode Control (SMC) Design
SMC is one of the precious control techniques for the
extremely nonlinear, unbalanced, and under actuated
structures. This theory can be applied to both linear as well as
nonlinear systems, and has been proposed for more than fifty
years [3].
Consider changing time area ( ), in the state space ( ) by
the scalar equation ( )
[9][10]. Therefore, following
sliding surfaces are chosen as,
s c1 1 c2 2
se c3 3 c4 4
PID, Angular Position

3.152
3.15
3.148
3.142
3.14
0
10
sec
15
20
15
20
(i)
PID, Angular Rate
0
(8)
In equation (7), be the tracking error, and c is the control

design parameter. , and and are the control plan
constraints described in equation (8).
( ) is the signum function, defined as,
1 if s 0
1 if 0
(7)
-0.01
rad/sec
Fe e e sgn se
3.146
3.144
And, like control laws are,
F sgn s
CONSEQUENCES AND ANALYSIS
PID Approach Upshots
rad
System
IV.
During the implementation, different outcomes (according to

the performance criteria) are achieved from three proposed
controller designing. The initial condition given to pendulum
is
radians in each case.
TABLE III
Single PD, Inserted Values
sgn s
Where,
Proposed control equations in (8) guarantee the reach-ability
and sliding conditions as under,
V
Fig. 3: Block Diagram of PD Controller
1 n
q 0,
-0.02
-0.03
-0.04
0
10
sec
(ii)
(9)
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PID, Linear Position
48
PD, Angular Rate
0.12
0.01
0.1
rad/sec
0.08
0.06
0.04
0.02
-0.01
-0.02
-0.03
0
0
10
20
30
40
-0.04
0
50
sec
(iii)
x 10
15
(vii)
PID, Linear Rate
-3
20
10
sec
x 10
PD, Linear Position
-3
8
6
15
m/sec
4
10
5
0
0
0
-2
10
20
30
40
50
sec
10
15
sec
(iv)
(viii)
PID, Control Action
PD, Linear Rate

0.015
0.2
0.01
0.15
m/sec
0.1
0.05
0.005
0
0
-0.005
-0.05
-0.1
0
10
sec
15
-0.01
0
20
10
15
sec
(v)
(ix)
PD, Control Action
0.2
0.15
0.1
0.05
0
B.
PD Approach Upshots
-0.05
PD, Angular Position
-0.1
0
3.15
10
sec
rad
(x)
3.145
C.
0.1 meters is set as the initial condition of cart.
3.14
0
SMC Approach Upshots
10
15
sec
(vi)
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15

SMC, Angular Position
49
SMC, Pendulum Control Action

1.5
3.152
1
0.5
3.148
rad
3.15
3.146
3.144
-0.5
3.142
3.14
0
0.2
0.4
0.6
0.8
-1
0
0.2
0.4
sec
0.6
0.8
sec
(xi)
(xv)
SMC, Angular Rate
SMC, Cart Control Action

6
0
4
-0.04
rad/sec
-0.02
2
-0.06
-0.08
-2
0.2
0.4
0.6
0.8
sec
sec
(xii)
(xvi)
SMC, Linear Position
SMC, Pendulum Switching Surface
0.1
0
0.08
S(x)
0.06
0.04
0.02
-0.05
-0.1
0
0
0.2
0.4
0.6
sec
sec
(xiii)
(xvii)
0.8
SMC, Cart Switching Surface
SMC, Linear Rate
0.8
-0.05
S(x)
m/sec
0.6
0.4
0.2
-0.1
0
0
sec
sec
(xiv)
(xviii)
The analysis of implemented results is illustrated in the

following tables.
TABLE IV
Pendulum, Performance Characteristics
Response
Settling Time (sec)
Steady State Error
PID
7
0.0
PD
6
0.0
SMC
0.35
0.0
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TABLE V
Cart, Performance Characteristics
Response
Settling Time (sec)

Steady State Error
V.
50
[10] V. Utkin, J. Guldner, and J. Shi, Sliding Mode Control in

Electromechanical Systems, (London: Taylor & Francis, 1999).
PID
PD
SMC
25
0.0
8
0.0
1.2
0.0
CONCLUSION AND FUTURE WORK
It is seen from the above end products and analysis that

all the planned models work to stabilize the Inverted
Pendulum. The implemented PIDs control design has the
slowest response due to Integral term, while the PDs
controlling proposal improves this transient response.
Furthermore, outcomes also reveal that, experimented SMC
scheme depicts the best results, when compared to PIDs and
PDs. This methodology has less settling time as well as the
best response, when it reaches to the unstable point. However,
due to applied discontinuous control signal, fast and finite
amplitude oscillations (known as chattering) are generated,
which travel to the plant in a controlled manner. In addition,
the future scope belongs to the cutback of produced chattering
phenomenon, exclusive of upsetting the basic nature of the
controller itself.
BIBLIOGRAPHY
A. Tahir1 received her Bachelors and Masters Degree in Computer
Engineering and Electrical Engineering respectively from COMSATS
Institute of Information Technology (CIIT), Islamabad-Pakistan. This author
is working in International Islamic University (IIU), Islamabad-Pakistan.
J. Yasin2 doing his Masters Degree in Embedded Computing from Abo
Akademi University, Finland. This author is working in Nordic IT Solutions
Oy, Finland.
ACKNOWLEDGEMENT
The authors thank Prof. Dr. Aamer Iqbal Bhatti, and Mr.
Mehmood Pervaiz for their continual support and lots of noble
helps in good instance.
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
Khalil Sultan Inverted Pendulum Analysis, Design and

Implementation, IIEE Visi onaries Document Version 1.0
A. K. Yadav, P. Gaur, A.P. Mittal, and M. Anzar, Comparative
Analysis of Various Control Techniques for Inverted Pendulum, India
International Conference on Power Electronics, (January 2011), pp. 1
6.
Zhiping Liu, Fan Yu, and Zhi Wang, Application of Sliding Mode
Control to Design of the Inverted Pendulum Control System, 9th
International Conference on Electronic Measurement & Instruments,
(August 2009), pp. 3-801 3-805.
Witchupong Wiboonjaroen, and Sarawut Sujitjorn, Stabilization of an
Inverted Pendulum System via State-PI Feedback, International
Journal of Mathematical Models and Methods in Applied Sciences, vol.
5, no. 4 (2011), pp. 763 772.
Anirban Banrejee, and M. J. Nigam, Designing of Proportional Sliding
Mode Controller for Linear One Stage Inverted Pendulum, Power
Engineering and Electrical Engineering, vol. 9, no. 2 (June 2011), pp.
84 89.
W. Torres-Pomales, and O. R. Gonzalez, Nonlinear Control of SwingUp Inverted Pendulum, Proceedings of the IEEE International
Conference on Control Applications, (September 1996), pp. 259 264.
T. Maeba, Mingcong Deng, A. Yanou, and T. Henmi, Swing-Up
Controller Design for Inverted Pendulum by using Energy Control
Method Based on Lyapunov Function, Proceedings of the International
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User Manual for Inverted Pendulum, National Development Complex
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International Journal of Electrical & Computer Sciences IJECS-IJENS Vol:12 No:04