文章基本信息

标题：Stabilising a cart inverted pendulum with an augmented PID control scheme
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作者：Indrazno Siradjuddin ; Zakiyah Amalia ; Budhy Setiawan 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2018
卷号：197
DOI：10.1051/matecconf/201819711013
语种：English
出版社：EDP Sciences
摘要：A cart inverted pendulum is an under actuated system that highly unstable and nonlinear. Therefore, it makes a good problem example which attracts control engineers to validate the developed control algorithms. In this paper, an augmented PID control algorithm is proposed to stabilise a cart inverted pendulum at the desired state. The derivation of a mathematical model of the cart inverted pendulum using Lagrange's equation is discussed in detail. The system dynamics is illustrated to understand better the behaviour of the system. A simulation program has been developed to verify the performance of the proposed control algorithm. The system dynamic behaviours with respect to the variation of the controller parameters are analysed and discussed. Controllers parameters are expressed into two PID gain sets which associated with 2 dynamic states: the cart position (ϰ) and the pendulum angle (θ). It can be concluded from the simulation result that the proposed control algorithm can perform well where acceptable steady errors can be achieved. The best response from the cart inverted pendulum system has been obtained with the value ofkPX190,kDX50,kIX5,kPθ140,kDθ5, andkIθ25.