System Modeling Coursework

Class 34-35: Modeling of Inverted Pendulum

P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: pr.venkat@manipal.edu, prv_i@yahoo.com
Web address: http://www.esnips.com/web/SystemModelingClassNotes
 WARNING!

• I claim no originality in all these notes. These are the

compilation from various sources for the purpose of
delivering lectures. I humbly acknowledge the
wonderful help provided by the original sources in
this compilation.
• For best results, it is always suggested you read the
source material.

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 Contents

• Dynamics of Inverted Pendulum

• Transfer function of Inverted Pendulum

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 Problem statement

• The cart with an inverted pendulum, shown below,

is "bumped" with an impulse force, F.
• Determine the dynamic equations of motion for the
system, and linearize about the pendulum's angle,
theta = Pi (in other words, assume that pendulum
does not move more than a few degrees away from
the vertical, chosen to be at an angle of Pi).
• Find a controller to satisfy all of the design
requirements given below.

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 System Diagram

M mass of the cart 0.5 kg

m mass of the pendulum 0.5 kg

b friction of the cart 0.1 N/m/sec

l length to pendulum center of mass 0.3 m

I inertia of the pendulum 0.006 kg*m^2

F force applied to the cart

x cart position coordinate

theta pendulum angle from vertical

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 Force analysis

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 System equations

• Summing the forces in the Free Body Diagram of the cart in the
horizontal direction, you get the following equation of motion:

• Note that you could also sum the forces in the vertical direction, but
no useful information would be gained.
• Summing the forces in the Free Body Diagram of the pendulum in
the horizontal direction, you can get an equation for N:

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 System equations

• If you substitute this equation into the first

equation, you get the first equation of motion for
this system:

• To get the second equation of motion, sum the forces

perpendicular to the pendulum. Solving the system along
this axis ends up saving you a lot of algebra. You should get
the following equation:

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 System equations

• To get rid of the P and N terms in the equation

above, sum the moments around the centroid of the
pendulum to get the following equation:

• Combining these last two equations, you get the

second dynamic equation:

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 System equations

• The equations should be linearized about theta = Pi.

Assume that theta = Pi + ø (ø represents a small angle from
the vertical upward direction). Therefore, cos(theta) = -1,
sin(theta) = -ø, and (d(theta)/dt)^2 = 0.
• After linearization the two equations of motion become
(where u represents the input):

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 Transfer function

• To obtain the transfer function of the linearized system

equations analytically, we must first take the Laplace
transform of the system equations. The Laplace transforms
are:

• Since we will be looking at the angle Phi as the output of

interest, solve the first equation for X(s),

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 Transfer function

• then substituting into the second equation:

• Re-arranging, the transfer function is:

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 Transfer function

• From the transfer function above it can be seen that

there is both a pole and a zero at the origin. These
can be canceled and the transfer function becomes:

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 And, before we break…

A monk was imprisoned. Within a week, he was to be killed.

In the prison, he heard a beautiful verse from a scripture
sung by his co-prisoner. He requested him to teach that
verse. The co-prisoner asked, “ what is the purpose of
learning if you are going to die within one week?” The
monk answered: “Exactly for the same reason you learn
something if you are going to die within forty five years”.

Thanks for listening…

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