DBPapers
DOI: 10.5593/sgem2017/21/S07.056

PID CONTROL OF AN INERTIA WHEEL INVERTED PENDULUM

V. Niculescu, R. A. Dobre
Wednesday 13 September 2017 by Libadmin2017

References: 17th International Multidisciplinary Scientific GeoConference SGEM 2017, www.sgem.org, SGEM2017 Conference Proceedings, ISBN 978-619-7408-01-0 / ISSN 1314-2704, 29 June - 5 July, 2017, Vol. 17, Issue 21, 441-446 pp, DOI: 10.5593/sgem2017/21/S07.056

ABSTRACT

The paper consists of a method to implement a control system algorithm for an inertia wheel inverted pendulum. Like any control system application, the transfer function of the plant should be known in order to design the proper controller. The key point of this paper is that the behaviour of the plant is consider unknown, so a system identification should be done at first. Even if the classical way to obtain the transfer function is by writing the physical equations, the result obtained from system identification covers the errors that might miss from the theoretical model. PID was chosen as control algorithm because, once implemented, it can be easily adjusted. The performance criteria for this system is the angular range of functionality, the stability in the equilibrium position and the sensitivity to external mechanical perturbations.

Keywords: control system, PID, digital signal processing

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