Practical design and control of a novel inverted pendulum

Yu Sheng Lu, Hua Hsu Chiu, Shu Fen Lien

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper investigates the design and control of a novel inverted pendulum. First, the structure of the inverted pendulum is presented, and its mathematical model is derived using Euler-Lagrange's equations. Using a transformed model, a nonlinear control scheme is applied to this new inverted pendulum. The non-linear control scheme is based on the well-known backstepping design approach to obtain a nonlinear controller that is suitable for both regulation and tracking tasks. Furthermore, the control scheme is practically implemented and compared in this inverted pendulum system in order to investigate its effectiveness.

Original languageEnglish
Title of host publicationProceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011
Pages235-239
Number of pages5
Publication statusPublished - 2011
Event2011 International Conference on Modelling, Identification and Control, ICMIC 2011 - Shanghai, China
Duration: 2011 Jun 262011 Jun 29

Other

Other2011 International Conference on Modelling, Identification and Control, ICMIC 2011
CountryChina
CityShanghai
Period11/6/2611/6/29

Fingerprint

Inverted Pendulum
Pendulums
Nonlinear Control
Backstepping Design
Backstepping
Euler-Lagrange Equations
Mathematical Model
Mathematical models
Controller
Controllers
Design
Model

ASJC Scopus subject areas

  • Modelling and Simulation
  • Control and Systems Engineering

Cite this

Lu, Y. S., Chiu, H. H., & Lien, S. F. (2011). Practical design and control of a novel inverted pendulum. In Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011 (pp. 235-239). [5973707]

Practical design and control of a novel inverted pendulum. / Lu, Yu Sheng; Chiu, Hua Hsu; Lien, Shu Fen.

Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011. 2011. p. 235-239 5973707.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lu, YS, Chiu, HH & Lien, SF 2011, Practical design and control of a novel inverted pendulum. in Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011., 5973707, pp. 235-239, 2011 International Conference on Modelling, Identification and Control, ICMIC 2011, Shanghai, China, 11/6/26.
Lu YS, Chiu HH, Lien SF. Practical design and control of a novel inverted pendulum. In Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011. 2011. p. 235-239. 5973707
Lu, Yu Sheng ; Chiu, Hua Hsu ; Lien, Shu Fen. / Practical design and control of a novel inverted pendulum. Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011. 2011. pp. 235-239
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