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ISSN: 2395-7549
Abstract
The internal model control (IMC) philosophy relies on the internal model principle, which states that control can be achieved
only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled. In
particular, if the control scheme is developed based on an exact model of the process, then perfect control is theoretically
possible. Transfer function of Inverted Pendulum is selected as the base of design, which examines IMC controller.
Matlab/simulink is used to simulate the procedures and validate the performance. The results shows robustness of the IMC and
got graded responses when compared with PID. Furthermore, a comparison between the PID and IMC was shows that IMC gives
better response specifications.
Keywords: IMC, Inverted Pendulum, MATLAB/simulink
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I. INTRODUCTION
Every feedback controller is designed by employing some form of a model for the process that is to be controlled and/or the
dynamics of the exogenous signal affecting the process. Consequently, the term "model-based" is often used here. 30-years ago,
a new model-based controller design algorithm named "Internal Model Control" (IMC) has been presented by Garcia and
Morari, which is developed upon the internal model principle to combine the process model and external signal dynamics.[7]
In the control theorem, the control systems design is fundamentally determined by the steady state and dynamic behavior of the
process to be controlled. It is an important issue to know the way in which the process characteristics influence the controller
structure. The internal model control (IMC) viewpoint appeared as alternative to traditional feedback control algorithm, which
link the process model with the controller structure. [7]
The theory of IMC states that control can be achieved only if the control system encapsulates, either implicitly or explicitly,
some representation of the process to be controlled. The main objective is to design an IMC Controller for the proposed
pendulum system to reduce the effect of disturbance due to mismatching in modeling.
Following is the list of parameters used in the derivation of Inverted Pendulum dynamics
M Mass of cart in kg
m Mass of Pendulum in kg
J Moment of Inertia of pendulum in kg-m2
L Length of Pendulum in m
b Cart friction coefficient in Ns/m
g Acceleration due to gravity in m/s2
Only the horizontal forces are considered in the analysis as they only give information about the dynamics since the cart has only
linear motion. [1]
2
d x dx
M 2
b N F (5)
dt dt
d
2
rF J 2
(6)
dt
Component of force in direction N is Centripetal force
d
2
MJ 2
cos (7)
dt
Centripetal force is
d
2
F MJ 2
(8)
dt
Summing forces of pendulum in horizontal and vertical direction we will get the equation for N:[1]
2
d d
2 2
d x
N m 2
m 2
L cos L sin (9)
dt dt dt
Considering the FBD of the pendulum rod, the vertical reaction P is given by the weight of the pendulum on the cart. Let be
the displacement of pendulum from the pivot. Then, P is given by [1]
d
2 2
d x
P sin N cos mg sin mJ 2 2
cos m (10)
dt dt
To get rid of P ad N terms, Sum the moments across the center of pendulum, we get[1]
d
2
NL cos PL sin J 2
(11)
dt
Substitution of (11) in (10) yields
d
2 2
d x
m cos mJ J mg sin (12)
dt
2 L dt 2
After substituting (5) in (1) we get,
2
d d
2 2 2
d x d x dx
M 2
mL 2
cos m 2
b mL c sin F (13)
dt dt dt dt dt
By simplifying we get,
2
d
d
2 2
d x dx
(M m) 2
b mL 2
cos mL sin F (14)
dt dt dt dt
Equation (12) and (14) are nonlinear and need to be linearized for the operating range
Since pendulum is being stabilized at an unstable equilibrium position,[1]
Assume that , where phi is small angle from vertical upward direction.
So,
By linearizing we get,
(s) mLs
(15)
F ( s ) qs b ( J mJL ) s mgl ( M m ) bmgJ
2 2
( mJL J ) s mgL
2
X (s)
(16)
F ( s ) qs bs ( mJL J ) mgL (1 b )
2 3
Putting real time values in the equation we can get the transfer function of inverted pendulum. [1]
Fig. 3: Simulink model for PID control Fig. 4: Simulink model for IMC
Fig. 5: Position of cart controlled by PID Fig. 6: Angle of pendulum Controlled by PID
Fig.5. shows position of inverted pendulum for X Axis Subsystem and Y Axis Subsystem together. Steady state time for
Inverted Pendulum is 3 seconds. Fig.6. shows angle of the Inverted Pendulum for X Axis Subsystem and Y Axis Subsystem
together. Inverted Pendulum makes an oscillation and after that it become stable, using PID Controller.
The following test signals or disturbances are given to monitor the performance of controller:
Fig. 7: Discrete impulse disturbance IMC response Fig. 8: Step disturbance IMC response
Fig.9: Band limited white noise IMC response Fig. 10: Comparison of plant model matching and plant model mismatching
V. CONCLUSION
Inverted Pendulum System is modeled and simulated in Simulink. System model works perfectly and stable with exact PID
Controller coefficient. Also, System model shows efficient results by the use of IMC. But, limitation of IMC is that it can only
work efficiently if plant and model matched exactly.
REFERENCES
[1] M. Arda, H.Kuscu, Modeling of the 2 dimentional Inverted Pendulum in MATLAB/simulink Proceeding of 5th International Mechanical Engineering
Forum 2012.
[2] Li Hong, Xiong Shibo. Fuzzy internal Model Control for Electro-Hydraulic Servo System Proceeding of the 27th Chienese control conference.
[3] Juan Chen. Lu Wang and Bin Du. Modified Internal Model control for Chemical Unstable Processes with Time-delay Proceeding of the 7th World
congress on intelligent control and Automation June 25-27, 2008, Chongqing, China.
[4] Zheng-Qi WANG, Xue-liang HUANG Nonlineal Internal Model Control for Bearingless induction motor Based on inverse System TheoryAdvance
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[6] Naoto Abe, Kenji Seki, Hindeaki Kanoh Two Degree of freedom Internal Model Control for Single Tubular Heat Exchanger SystemDepartment of
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Requirements for the Degree of Master of Science in Electrical Engineering Islamic University of Gaza, Palestine
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