Mathematical Model of Inverted Pendulum

system.
Presented by-

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What is an Inverted Pendulum ?
A Pendulum that has its center of mass above itspivot
point.
• Inherently unstable.
• Must be actively balanced in order to
remain upright.
• Must have a feedback system to keep
it balanced.

Criteria for Balancing

• Moving the Pivot point .
• Applying torque at the Pivot
point.
• Generating a net torque on the
Pendulum.
• Vertically Oscillating th e Pivot
point. 2
Real lifeExamples

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Types of InvertedPendulum
In general two types-
1. Linear Inverted Pendulum
2. Rotary Inverted Pendulum

Moving the pivot point Applying a torque at the

horizontally pivot point 4
Our ThesisWork

Inverted pendulum Self Balancing Vehicle prototype Rotary Inverted pendulum

pivoted on cart 5
Linear Inverted
Pendulum
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CONCEPT INVOLVED

 Self balancing property of an Inverted Pendulum can

be applied to two wheeled vehicles.

 Self balancing is attained using a feedback

network

 A PID (Proportional integral Derivative)controller is

used as the closed loop feedback system.
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WORKING PRINCIPLE

The Inverted Pendulum works on the

simple Principle of Newton’s Third Law of
Motion ( Action and Reaction).

Action : The body tends to fall in the

forward direction.
Reaction : The speed of the system is
increased by the feedback system thus helping
in attaining stability.
 PROPORTIONAL INTERGAL 6
DERIVATIVE
CONTROL SYSTEM

► Kp: Proportional gain, a tuning parameter

► Ki: Integral gain, a tuning parameter

► Kd: Derivative gain, a tuning parameter

► e: Error = SP - PV

► t: Time or instantaneous time (the present)

► τ : Variable of integration; takes on values

from time 0 to the present t.
PID CONTROLLER TUNING
•The faster response,the worse
stability.

• The better stability,the slower

response.

So, for the control system, we look for

the following compromise:

Acceptable stability,and mediumfastness

of response
Methodology ofwork

Study of System dynamics

Mathematical Modeling

MATLAB Simulation

PID Controller design in MATLAB

Application of Controller in
Experimental Setup.

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System Dynamics and Mathematical Modeling
• 2D problem, where the pendulum is constrained
to move in the vertical plane.
• Control input is the force , F that moves the cart
horizontally.
• Outputs are the angular position of the
pendulum and the horizontal position , of the
cart .
• Pendulum is vertically upright , when = pi
System Transfer Functions

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MATLAB Simulation of the System.

• No Feedback, No Controller.
• The System goes without
bound.
• The pendulum falls down
within seconds.
phi

Time

Fig: System behavior without Feedback and

Controller.

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PID ControllerDesign
Integralgain,
KI

Proportional Derivative
gain ,KP gain, KD

Angle
PID
Controller

Fig: System block diagram with PID controller and

Feedback

• Angular displacement is
sent as a feedback.
• Displacement can me
measured by using
Sensor( Potentiometer,
Encoder , Gyroscope etc.
Fig: Simulink Model of the
) system 10
with PID controller and Feedback
PID Controller design in MATLAB
Initialization
KP = 1,KI= 1,KD
=1

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Tuning KP between( 1-100) Tuning KD between( 1-20)
PID Controller design in MATLAB

Tuned Response, with KP=100,

KI=1, KD=20
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Mathematical Modeling
Equation of Motion
Linearization

State Space
Model
Open loop poles
MATLAB Plot

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Fig: Mathematical modeling result

Pole Plotting onMATLAB

Fig: Open Loop

Poles

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Thank you!!

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