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Stabilising a cart inverted pendulum system using pole placement control

method

Conference Paper · July 2017

DOI: 10.1109/QIR.2017.8168481

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Stabilising A Cart Inverted Pendulum System Using
Pole Placement Control Method
Indrazllo Siradjuddin*, Zakiyah Amalia'", Budhy Setiawan'", Rencti Pambudi WicaksoIlo", Erni Yudaningtyast

• MaJang State Polytechnic

tUniversity of Brawijaya
Electrical Engineering Depanment
Malang, Indonesia
indrazllo@polinema.ac.id

Abslrat:(-A cart Im"crled pendulum system is one of the
lllost comlllon use to be considered for testing many control
algorithms, since it has some challenging problems associated
with non linearity, complexit;y and undcrllctuatcd system model.
In fact, nun-lincarit~· behaviour of the im'crted pendulum can
be observed easily. Different pendululll angle response can be
obtained by giving the same "cloch)' in the cart. The carl
in\'crled pendulum can be understood as an under actuated
system since the system has a lower number of actuator than the
degrees of freedom. One of the most convenient method to model
the im"erted pendulum system is to use Lagrange's equation.
However, at present, many presented in\"erted pendulum models
have been derived using simplified physical model. This simplified
model may lead to problems for the Implementation of the
control algorithm in a real physical in\"erted pendulum system.
In this paper, an inverted pendulum system mod{'1 is pr{'sented,
where a mechanical transmission system and a motor models
have been included in the d{'rh'atioll of the in\"erted pendulum
model. Hence, the problems for the control implementation in
a real syst{'m can be minimized. The mathematical model of
the in\'erted pendulum wus derived using Lugrange's equation.
The determination of the pole zero of the s~'stem is discussed.
A simple method of pole placement is proposed to stabilise the
pendulum at the desired position of the cart. Mallab simulation
results show the effectiveness of the proposed method. And ~'et,
this intuith"e approach can lead to better understanding of the
control behaviours.
Keywords: Curt Im'erted I'endulum; Non Lineur S~'stem; Pole
Placement; Lagranges Equation; Underactullted System
I. INTRODUCTION
A pendulum (pendulum facing downwards) is an example
of a stable system. The force of gravity affecting the mass
pendulum stabilises the pendulum at the position normal to
the earth's surface after an external force has been applied. In
contrast, an inverted pendulum (pendulum facing upwards) is
an example of an unstable system[ll Dne way to stabilise the
inverted pendulum system is by moving the center point of
rotation (pivot point) with a proper velocity and acceleration
in the direction of the horizontal axis. An inverted pendulum
system is a nonlinear system [2], in other words, different
system responses can be observed by applying the same speed
and acceleration. In addition, the inverted pendulum system is
an underactuated system[3], the system which has a lesser
degrees of freedom of the input than the output side. The
horizontal force at the pivot point as input; rod angle and
position of the pivot point as the two output variables.
Therefore, the aforementioned properties of the cart-inverted
pendulum; non-linear and underactuated system are a perfect
case for control algorithm benchmark. The cart inverted pen-
dulum has been used for control engineers to verify their
proposed algorithm since 1950 until today[4] [5]. Starting
from the use of PlD control system [6], fuzzy control [7],
fuzzy genetic algorithm [8]. However, those control strategies
require complex computational strategies and tuning process
for obtaining the proper parameters. A state space control with
pole placement method has been proposed in [9]. It is a simple
control strategy and yet a computationally effective method.
The feedback control parameters can be adjusted intuitively
by knowing general system behaviours with respect to the
location of the system"s pole and zero on the complex plane.
However, the mathematical representation of the inverted pen-
dulum was derived from a simplified model, where the actuator
dynamic was not presented. Therefore, it may lead to the
implementation issues, where the derived control parameters
may not be the actual parameters.
In this work. a pole placement method is used to stabilise
the cart inverted pendulum. A near actual system model is
presented where the dynamic of the system actuator is derived
and presented in Section II. The state space representation of
the cart inverted pendulum is discussed in Section III. Detailed
presentation of the pole placement method is presented in
Section IV. The simulation results are discussed in Section V
followed by a conclusion in Section VI.
II. SYSTEM MODELLING
Fig I illustrates the cart inverted pendulum system. A DC
motor is used to move the cart along x-axis direction. The
mechanical transmission using belt and pulley is used to gain
the actuator torque. The velocity and the acceleration of the
cart are controlled by controlling the angular velocity and
acceleration of the DC motor.
A. Mathematical Modelling of the Inverted Pendldw" System
A mathematical model of the cart inverted pendulum should
be derived to map the system input (the force applied to cart,

978-602-50431-1-6/17/$31.00 02017 ffiEE 197 2017 15th IntI. Coni QiR: Inti. Symp. Elec. and Com. Eng
 xe seen in Fig. 1 that

I sin () xe x + I sine (4)

h l cose (5)
··.. i.: ·,·,: : .: : ,·,·,: : :.·.~: : : .:. ~~........,
where I is the pendulum rod length. The derivative of Eq. (4)
e and Eg. (5) can be derived as
I cose
Xg = i: + 18 cos e (6)
x h h -tesine (7)

By substituting Eg. (6) and Eg. (7) into Eq. (3), the pendulum
kinetic energy can be rewritten as
...............................
f- t T IC m = ~m((i:+18coSe)2+(-18sin(})2) (8)
fixed pulley DC motor
pulley transmission system = ~m(x2+2Xl8cose+l282) (9)

Fig. I. The cart inverTed pendulum To sum up, the pendulum and the cart has a total kinetic energy
as presented as
K = + IC m
K /VI ([ 0)
f) to the system output (x e). In a mathematical notation, ~Mi:2 + ~m(i2 + 2i:18cose + 12( 2 ) (II)
the mapping can be expressed as f E JRl I--t (x e) E R? 2 2
In this work, Lagrange's Equation is used to describe the The pendulum mass m is only thing that affected the potential
system model. The basic tenet of Lagrange's equation is the energy
description of the system by one of equalised coordinate
q = { ql, ... ,qi, . .. ,q.,.,}, where n is the total a'>signed P = mgh (12)
equalised coordinate. qi is an free degree of freedom of true = mgl cose (13)
system which totally combine the constraints unique to that
Finally, the Lagrangian function Eq, (I) can be fully determi-
system, i.e., the communication among parts of the system.
ned using Eq. (II) and Eq. (13), a" shown as
The Lagrangian equation t:. is declared by the potential
energy P and the kinetic energy K as explained as t:. = ~Mi:2 + ~m(i2 + 2il8cose + z2iP)
2 2
t:. = K(q, q) - P(q) (1) -mglcose (14)
where the function of kinetic energy in terms of the equalised x and () is the two degrees of freedom of the system, the
coordinate q and the derivation of it q. The function of system dynamics must be declared in terms of e and x. The
potential energy i shown in terms of only the equalised derivative of the Lagrange's equation (1) can be declared for
coordinate q. In the case of the cart inverted pendulum, the each equalised coordinate as follows
system coordinate is expressed in term of e and x, thus
q= [x,e].
~
dt
(at:.)
ax
_at:.
ax
= f (15)

d (at:.) at:.
The movement of the cart is only in i direction (the
= (16)
horizontal axis), thus, the kinetic energy of cart from the dt ali - ae 0
system can be presented as
The equation shown that the cart in i direction is only the
1 .2
IC J\<[ = 2Mx (2) part of the system that affected by the external force, and
the pendulum i not affected by external torque. Deriving for
where M is the cart mass and x is the cart translational each term in the differential equation in (15) and (16), it can
velocity. be obtained that
The pendulum moves in .7 and ,1 directions (the vertical and at:. (m + J.V.I)x + ml8 cos e (17)
the horizontal axes), the total kinetic energy of the pendulum ax =
is presented as

Km =
2
1
-m(xe + h)
.
(3)
:t (~~)at:. (m + M)x + ml(e cose - li2 sin e)(18)

0 (19)
where m is the pendulum mass, xe is the rate ~f the projected ax =
pendulum position on the horizontal axis and h is the rate of
the projected pendulum position 011 the veltical axjs. It call be

198
and where J(t is the motor torque constant. Substituting Eq.(28)
o£ m/icos (} + ml 2 iJ (20)
and (29) (in term of i,,) into (27), one obtains
ab
~

Tj d 2 Tj dO,
(a£) J(t R + La (dt)2 + [(bCit = v" (30)
d
dt ao ml(xcosO - iJ±sinO) + mz2e (21 )
In General, the rotor has a small inductor, thus can be
a£ -m±lOsin (} + mgl sin (J
displaced, then the function of annature circuit in term of 1',

ao (22) becomes
[(b K I,
hence -At-w,+ -v"
J
Tj = (31 )
Ra R"
f = (m+M)x+mlOcosO-mliPsinO (23) The mechanical transmission in pulley and geared systems
o = ml(icosO-OisinO)+mI 2 ij applies a following formula
- (-milO sin (J + mgl sin 0) (24) 1'2
~
Nz W, (32)
It can be seen that Eq.(23) and (24) are nonlinear since the N,
equations contain non linear temw sinO, cosO and iP. The where 7' is the radius of a pulley and N is the number of a
lineariscd Lagrange's equation can be obtained as gear teeth. The motor angular velocity w, can be shown in
term of the cart velocity j; by
f = (M+m)x+mlO (25)
27Tr2 27T
o x + 10 - gO
7'2
= (26) (33)

It is assumed that the pendulum rotates near around the where 2iT1'2 is the circle of the pulley that connects to the cart
equilibrium, (} ;::: O. Therefore, it can be approximated that using a belt. Therefore,
sinO = 0, cosO = 1, iP = 0 and 00 = o.
(34)

B. DC Motor: Torque, Armature Voltage and Allg/dar Velocity Substituting Eq.(34) into Eq.(31) yields
Model

Fig. 2 shows an equivalent circuit of a DC motor. The DC

Tj = J(,.( -J(b!:..-
,, + va) (35)

motor armature circuit equation can be obtained as The torque 1'2 causing the force that moves the cart, so, the
transform is needed 1', >--+ 1'2. Consequently, using fr2 = 1'2
din
i"R" + L,,-
dt
+ Vb = Va (27) (the force that perpendicular to the direction of 7'2 from pulley
centre), it can be verified that

(36)

where J(r = ~. From Eq.(36) and Eq.(25), a new Lagrange's

function in term of equalised coordinate x is declared as
f(,. . J(,.J(b. ..
-.-v a (lV{ + m)i + - (
)2 X + m18 (37)
7, 1'1

0, (t) To simplify the derivation, the following shorthands are used

(38)

Fig. 2. DC Motor Armature Equivalent Circuit (39)

from the Lagrange's function (37), and from the term 18

l11e generated back electromotive force (emf), Vb, is pro- and Eq.(26) into Eq.(37), the first differential equation of the
portional to the rotational speed of the rotor system can be obtained as
r\bCit
dO 1 .
x
j
Vb = (28) = III (C2V" - CjX - mgO) (40)

where f(o is the back emf constant and Wj = ~. The torque Readjust Eq.(26), the new equation get as follows
of motor 1', is proportional to the armature current i", therefore
o = ~(gO-i)
I
(41)
(29)

199
From Eq.(40) and Eq.(41), the second differential function of Only x and (J can be observed directly from sensors in
the system can be declared as assumption, in the sense that the observed value from the
sensor is the actual value. In practical, the conversion from
8 = ~ (gO - 1,11 (C2V" - CFT - mgO)) (42) the actual to the value that is used for the computation is
required.
C2 C,. (M +m)g
- Ml Va + MIX + MI (} (43)
IV. POLE PLACEMENT METHOD
Finally, the differential function of the cart pendulum motion
using the Lagrange's methoo has been developed where the In the controller design, the system stability can be verified
actuator dynamic has also been considered in the mathematical from the system pole location on the complex plane. The
mooel development. system is said to be unstable if one of the pole is located on
the right side of the complex plane. The otherwise, the system
llJ. STATE SPACE MODELLING is said to be stable if all poles are located on the left side of
the complex plane [10]. For an unstable system, it requires a
For further analysis, the mathematical model of the system control method that can bring all the poles to the left of the
should be translated in the state space model. The general form imaginary axis to become a stable system.
of a system state space is shown in Fig.3.
It is a practical method to check the controllability and the
observability of a feedback system. The controllability implies
that if rank(C) is equal to the number of state variables for
rr====~ "',' I======il any initial state values, the acceptable control effort n can
directing the state to any final state values within some finite
time window.

C [AIABIA'BI·· 'W-'B] (46)

rank(C) n (47)

Observability is a property of the plant with suitable sensor

Fig. 3. Open LClq) System Respresentation in State Space Equation
State space representation equation can be expressed as
x = Ax+Bu
y Cx+ Du
where, n is the total number of the state variable and x E IR"
is a state vector. x is the time derivative of the state vector. A
vector u E R./c is the control vector or control input which has
k elements of control variables. The A E lR"x", B E lR"x~'
and C E lR"x" are named the system, the output and the
input matrices, successively, where p is the output number.
The output vector is declared as y E R.p.
For the case of the cart inverted pendulum system, the
state vector, the derivative of the state vector and the control
input of the state vector are declared as x = [x (} i; 8]T, X =
[x8x8]T, U = Va' successively. In this case, the total number
of the state variable n = 4. Arranging Eq.(40) and Eq.(43) into
the state space fonn, the system matrices obtained as follows
selection without considering actuator selection. The rank of
observability matrix 0 has to be equal to the number of the
state, it means that the system is an observable system. The
observability matrix 0 can be calculated as
(44)
(48)
(45)
By choosing an appropriate gain matrix for state feedback
as shown in Fig. 4, it is possible to force the system to
have closed-loop poles at the desired locations, provided that
the original system is completely state controllable. In pole
placement method, all state variables must be measurable and
available. The principle of the pole placement method is to
alter the unstable poles to the proper location such that the
obtained control gain K can satisfy the designed criteria. The
characteristic polynomial of a system can be determined as
lsI - AI = s" + a1s,,-1 + ... +a,,_1s + a" (49)
where I is an identity matrix and a;'s are the polynomial coef-
ficients. If the desired eigenvalues [PI: ... , I-~"I are considered,
then the desired characteristic polynomial becomes

A [~I'~~)' ~ ], IT" (s -
i='
/I'i) = S" + a,s"-1 + ... + a,,_1S + a" (50)

i], ~ [t ~ ~ ~]
Then, the required state feedback gain matrix K can be
computed using

B [_ c K = [a" - a"la"_1 - a"_11 ... la2 - a2la, - al]T- 1 (51)

m where T is the transformation matrix that transforms the
y [xeIT,D~0 system state equation into the controllable canonical form and

200
it can be computed by TABLE I
THE CART INVERTED PENDULUM SYSTEM PARAMETERS
r~cw (52)
Numl:m Parameters Value Units
where n
(I ) R" 1
a,,_! a,,_2 0, 1 (2) K, 0.02 N· m/A
0·,,_2 a,,_3 1 0 (3) K. 0.02 V. s/rad
(53) 0.015
W ~ (4)
(5)
"m 0.1
m
Kg
0, j 0 0
j 0 0 0 (6) M 1 Kg

.
(7) I 0.25 m

, • ,
~
" B
"
• From the TABLE 1, the controllability and the observability
from the system are obtained as follows
0.200 -0.008
c~
[ 020~
-0.800
-0.800
-0.008
0.032
0.032
0.785
-34.533
07~]
-34.533
-0.063
1.507
(58)

Fig. -l. Closed loop system

j 0 0 0
The detail that mentioned before for obtaining the feedback 0 j 0 0
gain K does not guarantee that the K which obtained can give 0 0 1 0
0 0 0 1
the steady-state error e ~ O. For an unit step set-point input, O~ (59)
it is very often that the transfer function 1'(8) of a closed loop 0 -0.981 -0.040 0
has an unsatisfactory dc gain N, 0 < N < 1. The transfer- 0 43.164 0.160 0
function of a closed loop system shown in FigA is declared 0 0.039 0.002 -0.981
as 0 -0.157 -0.006 43.164
The ]X)les of the the system were obtained as follows:
(54)
0,6.5681, -6.5718, -0.0364. One of the ]X)1e of 0l~n loop
DC gain N can be declared by 1'(8)18=0. The solution to system has a positive real part, hence, the system is unstable.
increase the performance of the steady-state error is to put a It can be verified that rank(C) = rank(O) = 4, therefore, the
pregain N in the system as depicted in Fig.5. The pre~gain N system is observable and controllable.
is computed as N = -b.
The full state space function can be The first step in the pole placement design approach is to
declared as choose the locations of the desired closed loop poles. The
x (A - BK)x + Bu (55) closed loop poles have been chosen as shown in TABLE II,
where four combinations of the desired poles were considered.
y ex (56)
U = J'-Kx (57)
TABLE II

.
where K E IRj. POLE PLACEMENT PARAMETERS

, No. sl s2 s3 s4

(I )
6.57 + -6.57-
-6.5718 -0.164
O.0193i O.0193i

(2)
6.57 + -6.57-
-6.5718 -0.364
O.0l93i O,0193i

(3)
-6.57 + -6.57·
-6.5718 -3.64
O.0193i O.0193i
Fig. 5. Closed loop system with pregain
(4)
6.57 + -6.57-
-6.5718 -6.4
O.0193i O.0193i
V. RESULTS AND DISCUSSION

Before performing the simulation, the parameters of cart

inverted pendulum system were determined as depicted in From that closed loop poles combination in TABLE II, the
TABLE I K parameters were obtained as presented in TABLE U1

201
 TABLE lJl TABLE IV
K PARAMETERS GAIN PARAMETERS

No. KI K2 K3 K4 No. N
(I ) -5.9279 -221.3763 -39_0525 -34,5579 (I ) -5.9279
(2) 13.157 228,1116 42.3532 -35.6331 (2) 13.157
(3) -131.5713 -338.4349 -96.4184 -53.2443 (3) -131.5713
(4) 231.3342 -431.3814 141.9678 -68.0817 (4) 231.3342

The simulation step response without gain shown in Fig.6 The simulation s1ep response with gain shown in Fig.S and
and Fig. 7. Fig.9.

Sl,,!' Il,o;po""" ".. ;Iholll Gai"

SI"p 11''''1'0'''''' "';lh Ga;"
0,15
-~
-----9,
- --8,
01
, 1\
"
,, 1,\
\

--~
-._.- 8,
,
~ \
- - - 8. _.1
e, <
Or I.Y-"~ ~ ~
\ __
-
_
~
\ ,,/
] " .I"
- .o05

."0
~--:-~:--:----:--:::---:':-:---:::---:::--::
268101214161820
., L~,---~_~_~_~_~~~~_~_~
tu"f!{"""j
o 05 15 2 2,5 3 35 45 5
li",e("",,)

Fig. 6. Pendulum Angle Response

Fig. 8. Pendulum Angle Response

000; $Iq) tl""IIO'1SC wilh Gain

025
,1----~7.~~-----------
." 0_2 J
t
,.'
./
I
-.-._._._._._._._._._._._._._._._._._._._._ ..
.0015 , J
.g .oro j i
i
--"
~!
_~0151;
- j i
___ .I',
_____ T)

~.o025 --"
_'_'_.1',
~
01
J,
; "
(.J .ow ___ .I', ,~ i ;
'"' I;
" 0,05
I;
i

«w
.o().l5~r ----c:~=::=;=:::::::::::::::==-
05101520253)35404550
I i""'{"'-'C)
• 0;
o~--:----C:---:::----::--=---=----:.
10 1520253J35
litll~("'-'f)

Fig. 7. Cart Position Response

Fig. 9_ Carl Position Response

Fig.6 shows that the more negative of the pole location, the
response of the pendulum angle will increasingly towards the
point 0, but the greater overshoot caused. Fig. 7 shows that
regardless of the value pole can't meet the desired position
setpoint.
The parameter of pre gain shown at TABLE IV :
Fig.S shows that the more negative of the pole location,
the response of the pendulum angle is faster to reach the
equilibrium point, but it has a greater overshoot. Fig. 9 shows
that the more negative of the pole location, the response of
the cart position is faster to reach the setpoint.

202
 Control SiK',f\I wilh Gain 171 R. Sharma. "Game theoretic Iyapunov fuzzy control for inl'erted pen-

.,'.
"' dulum:' in 20/5 41h fmernational Conferellce on Reliabilily, bl/ocom
Technologies am1 Oplimizatioll (fCR/TO) (Trellds mu1 Future Direcli-
•• ons). Sepl 2015. pp. 1-6.
'" ... 181 V. R. Molazadeh. A. Banazadeh. and I. Shafieenejad. "Design of the
Iqr controller and observer with fuzzy logic ga and ga-pso algorithm
~ for triple an inverled pendulum and carl system:· in Proceedings if Ihe

, '" ,,
2014 fllleoulliolial COII/erena Oil Ad,."lIced Mechmrollie Sp'lcms. Aug
201-t pp. 295-300.
191 M. Shehu. M. R. Ahmad. A. Shehu. and A. Alhassan. "Lqr. double-
I '" ,, pid and pole placement stabilization and tracking control of single link
inverted pendulum:' in 2015 /EEE ftllernwi01UlI Conferellce on Conlml
" ,, SySlem. Comp,uing Wid Engilleerillg (ICCSCE). Nov 2015. pp. 218-223.
W ,, 1101 K. H. Lundberg. "Pole-zero phase maps: visualization helps students
develop s-plane intuition:' fEEE COlllrol S)",.",,,,;'. vol. 25. no. L pp.
84-87. Feb 2005.
0

w.'-----:--::-~:__=__::__::___::__::_-:';__:
o 5 10 15 20 25 ~ 35 -40 .5 9l
tim.,(__ )

Fig. 10. Control Output Trajectories With Gain

Fig. 10 shows that the more negative the location of a pole,

the greater control output is required.

VI. CONCLUSION
Stabilising a cart inverted pendulum system using pole
placement method has been successfully conducted. The result
of simulation shown that feed-back gain J( can be searched
by pole placement method. The simulation shown that the
more negative of the pole location make the response of the
pendulum will increasingly towards the point 0, but the greater
overshoot caused and the response of the can position is faster
to reach the setpoint. But, the greater control output caused.

VII. ACKNOWLEGMENT
The authors would like to thank to Kemenristekdikti and
Polinema for their support. Also for Mr. Erfan Rohadi for his
invaluable advise on scientific writing.

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