2010 International Conference on Computational and Information Sciences
An analysis on the Kinetic Model of a Rotary
Inverted Pendulum, and Its Intelligent Control
Peng Xue
College of Electrical and Electronic Engineering
Changchun University of Technology
Changchun, Jilin Province, China
xuepeng@mail.ccut.edu.cn
Abstract—In this paper it is based on a kind of rotary connection
structure driven by DC servo motor, a control system model with
single support and rotary inverted pendulum can be constituted
by means of controlling a rotary arm in rotation angle and
alternate motion rate. The principle of control to simplify energy,
which is easy to realize, could be obtained through analysis after
the system is performed approximation treating. And angle of
revolution of the inverted pendulum, rate of change of the angle
and its trend pendulated would be controlled as input variable,
adopting the fuzzy control approach, the requirements to the
system controlling would be realized satisfactorily for oscillation
starting of the inverted pendulum, adjusting process of
pendulation, balancing and maintaining the stable conditions,
through adjusting the rotating arm in speed of revolution,
direction of rotation, angular displacement and rate of change for
the rotation angle. And feasibility of this control approach has
been tested and verified by the relative system exercises.
Keywords-inverted pendulum system; angle of revolution;
kinetic model; fuzzy control
I. INTRODUCTION
As a kind of typical experimental facilities in lab the
inverted pendulum system is used for controlling theoretical
investigation, and is the best model object to test measure &
approach of control in an unsteady system. In an automatic
control system, the control object of the automatic regulating
system is the inverted pendulum, which can be used for time-
dependent and nonlinear control object as a result of simple
composition and structure, control approach is easy to adjust
and verify, the characteristics to be controlled and the results
are direct, esp. it can simulate the process of controlling joint of
robot directly, controlling rocket launcher in attitude, and
controlling top of aircraft in balance, etc. when the applied
research concerning the control approaches and the new
theories to be tested and verified is performed, it often is
adapted as a basic test model. E.g. the straight inverted
pendulum with single support point, which is developed for it;
the trolley inverted pendulum with double support points; the
straight inverted pendulum with single step or double steps;
and the rotary inverted pendulum with single step or double
steps, etc.
Whereas, the inverted pendulum system is a typical time-
dependent and nonlinear system, plenty of theoretical research
978-0-7695-4270-6/10 $26.00 © 2010 IEEE
DOI 10.1109/ICCIS.2010.241
Wei Wei
College of Electrical and Electronic Engineering
Changchun University of Technology
Changchun, Jilin Province, China
weiwei@mail.ccut.edu.cn
has been adopted, including the various controlling methods
when research, generally, for a system with single support
point, linearization is performed near balance point mostly,
subsequently, linear control theories and methods would be
adopted to perform system design and its control for research.
However, when robust control is taken into consideration
emphatically, because of existence of error in the linearized
model, nonlinearity would also become larger with the inverted
pendulum increasing in angular displacement, esp. for this
reason, the design approach of linearization adopted simply
would be hard to obtain large-scale of stable area and the
performance indexes expected in control. It is more difficult to
obtain stable control purpose for an inverted pendulum system
with multi-support points or steps. Thus it can be seen, the
controllers composed and adopted by linear state feedback, the
modern control systems and approach adopted fuzzy control, or
control of artificial intelligence neural network, etc. are
increasingly becoming mainstream and hot spot in applied
research [1].
II. KINETIC MODEL OF THE ROTARY INVERTED PENDULUM
z
0
l2
.
θ2
y
θ1
x l1
Figure 1. Schematic diagram of the rotary inverted pendulum with single
support point.
Fig.1 is a schematic diagram of the rotary inverted
pendulum with single support point, and is made by this
system. DC servo motor is adopted as the final control element
of the rotating system, the rotating arm is fixed and connecting
with motor shaft through a sliding ring, on one end a sensor is
installed for testing optical code disc in displacement, the
inverted pendulum can be tied through bearing with the optical
code disc, the latter is fixed on the rotating arm. According to
978
or with displacement of rotating angle of the inverted g is acceleration of gravity ( m s 2 ).
pendulum tested and change rate of the rotating angle tested,
fuzzy control principle for the control system would is used for Kinetic energy V and potential energy W of this system can
determining the control signals from motor output, rotation be expressed as the following:
speed, angle and direct of the adjusting motor, by this way
pendulating process and stable state of balance concerning the
inverted pendulum can be controlled [3]. 1 2 1 2 1
V= J1θ1 + J 2θ 2 + m2 ( x 2 + y 2 + z 2 ) (4)
z 2 2 2

W = − m2 gl2 cos θ 2 (5)

0 y
(4) and (5) are put into Lagrange Equation (5)
θ1 θ 2 O( x, y , z )
l1
l2 − m2 g d ⎡ ∂L ∂V ⎤
x
dt ⎢ ∂q − ∂q ⎥ = T (6)
⎣ ⎦
Figure 2. Fundamental coordinate system.

To deduct motion state and kinetic model for the inverted Equation of motion for this system is as the following:
pendulum system, set shaft of motor as origin of coordinates,
set x -axis and y -axis on horizontal plane, and x -axis is
J1 + m2 (l12 + l22 sin 2 θ 2 )θ1 + m2 l2 (l1θ2 cosθ 2
parallel with the rotating arm, the pure vertical as positive
direct of z -axis, to assume that counterclockwise rotation of + 2l θ θ sin θ sin θ − l θ 2 sin θ ) = T
2 1 2 1 2 1 2 2
motor and the inverted pendulum is positive direct of angle of (7)
rotation as the following Fig.2. In any time, for centre-of-
gravity position O ( x, y , z ) of the inverted pendulum, its
coordinates could be described as the following formulas [4]. m2 l1l2θ1 cosθ 2 + ( J 2 + m2 l 22 )θ2 −
(8)
m2 l22θ12 sin θ 2 cosθ 2 + m2 gl 2 sin θ 2 = 0
x = l1 cos θ1 − l2 sin θ 2 sin θ1 (1)
Among which: Lagrangian function L = V − W , vector
coordinate conversion q = xi + yj + zk .
y = l1 sin θ1 + l2 sin θ 2 cos θ 2 (2)
III. KINETIC ANALYSIS OF THE INVERTED PENDULUM IN
CONTROL AND THE MODEL APPROXIMATION
z = l2 cos θ 2 (3)
Kinetic energy V2 and potential energy W2 for the
Among which: θ1 is rotation angle of the rotating arm inverted pendulum can be expressed as:
( rad ); 1
V2 = ( J 2 + m2l22 )θ22
l1 is length of the rotating arm from shaft of motor to the 2
support point of the pendulum ( m ); W2 = −m2 gl2 cosθ2
2
J1 is rotary inertia of the rotating arm ( kg ⋅ m ); All of the energy owned by the inverted pendulum is as the
following:
θ 2 is rotation angle of the inverted pendulum ( rad );
1
E2 = V2 + W2 = ( J 2 + m2l22 )θ22 − m2 gl2 cos θ 2 (9)
l2 is length of the inverted pendulum from shaft to center 2
of gravity ( m ); Change rate of the inverted pendulum in energy:
m2 is mass of inverted pendulum ( kg );
∂E 1
J 2 is rotating inertia of the inverted pendulum ( kg ⋅ m 2 ); E 2 = 2 = ( J 2 + m2 l22 ) ⋅ 2 ⋅ θ2 + m2 gl2 sin θ 2 ⋅ θ2
∂t 2
T is torque caused by motor ( N ⋅ m );
Combined with (8) to obtain:

979
 E 2 = −m2l1l2θ1θ2 cos θ 2 + m2 l22θ12θ2 cos θ 2 sin θ 2 (10) When the rotating arm is in initial state, i.e. θ1 = 0 ,
θ1 = 0 , in that case,
It is observed that: rotating angle θ 2 of the inverted
pendulum for any time can figured up through (8), after that, E2 = −m2 gl2 cos α 2
according to control relationship in (9), variation value of
. J 2 + m2l22 2(1 − cos α 2 )
energy E 2 for the pendulum can be controlled through i.e. =
m2 gl2 α 22ω22
controlling rotating angle θ1 of the rotating arm, rotating
In this case, (13) and (14) can be changed as
angle rate θ1 and its direction of rotation, by this way the
pendulum can reach a stable state under balance. ⎧ 2(1 − cos α 2 ) 
Because that, equation(8) is a nonlinear differential
⎪⎪sin θ 2 = − α 22ω22
θ1
equation, it is difficult to solve directly, for this reason, We ⎨ 2(1 − cos α 2 )  2
consider that, in this system, the changes of the rotary ⎪ cos θ 2 = θ1 + cos α 2
pendulum in oscillating period and amplitude are weak ⎩⎪ α 22ω22
( cos θ 2 = 0 ), in this case, equation of motion for the rotary In order to control the rotary pendulum in reciprocating
motion, and sure it being under balance state, principle of
pendulum could be performed approximation accordingly [3] : motion for the rotating arm would be same as the rotary
pendulum in oscillating period, equation of the rotating arm in
control is set as:
( J 2 + m2l22 )θ2 + m2 gl2 sin θ 2 = 0 (11)
θ1 = α 1 cos(ω 2 t + ϕ1 ) (0 < α 1 ≤ 1)
Form of the equation resolution above is a cosine value
superimposed by various harmonics. In this formula: ω 2 and ϕ1 is changing angle rate and
initial angle displacement of the pendulum.
∞ In that case, comparison expression between conversion
θ 2 = ∑ an cos(nω1t ) (12) rate of energy of the rotary pendulum and controlling angle of
n =1 the rotating arm would be arranged as:

In this formula: angle frequency of fundamental wave

ω1 = 2π T , Solving to (11), principle of displacement E 2 = −m2l1l2θ1θ2 cos θ 2 + m2l22θ12θ2 cos θ 2 sin θ 2
variation for the inverted pendulum can be obtained: m2 l1l2α1α 2ω 23 (16)
= (3 + α1α 2 ) sin ϕ1
m2 gl2 g
θ2 = (cos θ 2 + cos θ 20 )
J 2 + m2 l22
Among which, the item with α 22 has been omitted.
⎧ J 2 + m2 l22  It can be seen that, equation(16) set up a functional relation
⎪ sin θ = − θ2 (13)
⎪
2
m2 gl 2 among pendulating amplitude of the rotary pendulum α1 ,
⎨ 2 pendulating amplitude of the pendulum rod α 2 , changing
⎪cosθ = J 2 + m2 l2 θ 2 + cosθ (14)
⎪⎩ 2
m2 gl 2
2 20
angle frequency ω2 and angle displacement ϕ1 , i.e., kinetic
Among which: θ 20 is initial value of angle displacement for model of the system. Esp. When ϕ1 > 0 , and conversion rate
the pendulum. In general, high harmonic component of the of energy E 2 > 0 , it means that, the system is enable to
rotary pendulum is smaller, for this reason, principle of motion energize the rotary pendulum, and let it start to oscillate from
for the pendulum would be described by basic periodic
function, i.e. the initial and pendent position. When ϕ1 < 0 , conversion rate
of energy E 2 < 0 , change rate of energy for the rotary
θ 2 = α 2 cos ω 2 t pendulum would be changed through controlling the rotating
In this case, energy of the rotary pendulum also is arm in pendulating status, i.e. principle of motion for the
expressed through (9) as following: rotating arm always be under control until a stable and
balanceable working point is obtained.

α 22ω22 ( J 2 + m2l12 ) IV. SYSTEM CONFIGURATION

E 2= − m2 gl2 (15)
2 System configuration has been indicated as Fig.3.
information of rotating angle detected by the optical code disc

980
from the inverted pendulum, and is input to CPU of controller driven by the motor to perform adjustment and control for the
through filtering and frequency doubling, the system takes motor. Functional relation to control the rotary pendulum in
angle of rotation and change rate of angle as input , and motion state can be deducted, and be subject to the basic
according to displacement of rotating angle, change rate of periodicity conditions for the rotary pendulum, in order to test
energy and the relational expression simplified to control angle and verify the approach of control in correctness. Principles of
of rotation, adopting the fuzzy control approach [2][6] to changing for the rotary pendulum and the rotating arm are
determinate the controlling signals from output motor, through indicated as Fig.4 and Fig.5.
D/A transform and amplifying circuit, the controller would be

uk Amplifying u Driving Servo Inverted Q2

Circuit Circuit Q1 Motor Pendulum

u Q' 2
Diversion
duQ' 2
u c Anti-fuzzy Fuzzy Control Fuzzy dt Filtering and uQ2 Inspection of
D/A d/dt
Processing Planning Processing Frequency Doubling Pendulum’s Position
Fuzzy Control Planning

Figure 3. Block diagram of the control system.

θ1

Displacements of the pendulum

θ1
Displacements of the pendulum

θ2 θ2
2 2

( rad )
摆 和 和 和 和 和 ( rad )

和 和(rad)
and the arm (rad)

和 和arm
0

摆 和the
and
-2
-2

0 5 10
0 5 10 时 时（ s ）
s）
时 时（ (s) Time (s)
Time
Figure4. A variation curve during the process of adjusting. Figure5. A variation curve during the process of pendulating.

V.
This paper is based on approach of Lagrange kinetic
analysis, equation of motion for the inverted pendulum and
control relationship for the rotating arm could be deducted. A
model simplified control relation would be obtained, and is
easy to realize after the system is performed a feasible
treatment of approximation. Taking angle of revolution and
changing rate of angle for the inverted pendulum as control
input adopting approach of fuzzy control, it has realized the
principle of control for the inverted pendulum in starting of
oscillation and state balancing. Approach of the control in
feasibility has been tested and verified through performing
system exercises. It not only solves the troubles concerning
design and control of the nonlinear system for the inverted
pendulum, but also can be used for the control system of the
inverted pendulum with multi-support points.
CONCLUSION REFERENCES
[1] He Zhen, and Wang Yi.” The nonlinear issues on ball and beam system
,” Proceedings of the CSU-EPSA, vol.33, pp.550-553,April 2007.
[2] Su Xin, Sun Zhengshun, and Zhao Shimin, “A research on Plate-Ball
system in fuzzy control, ”Proceedings of the CSU-EPSA, vol.23,
pp.165-167,Sep 2006.
[3] Qin Jirong, etc. “Modern DC servo control technology and system
design , “China Machine Press, vol.15, pp.200-208,July 2002.
[4] J.Q.Yi, N.Yubazaki, and K. Hirota. “Stabilization control of ball and
beam systems,” IEEE Transactions On Automatic Control. Vol.23,
pp.2229-2234, Feb 2004.
[5] C. C. Chen, T. L. Chien, and C. L. Wei, “Application of feedback
linearization to tracking and almost disturbance decoupling control of
the AMIRA ball and beam system, ”Journal of Optimization Theory and
Applications, vol.12, pp.279-300,Feb 2005.
[6] Cai Zixing, “Control by artificial intelligence ,” Chemical Industry
Press,vol.12,pp.279-300,Feb 2007.

981