Comparative Performance Analysis of Feedback Linearization Control and PID Control ofNonlinear Inverted Pendulum System

Gopal Yadav*, L. B. Prasad**
* M.Tech Graduate, Department of Electrical Engineering, Madan Mohan Malaviya University of Technology, Gorakhpur, India.
** Assistant Professor, Department of Electrical Engineering, Madan Mohan Malaviya University of Technology, Gorakhpur, India.
Periodicity:February - April'2015
DOI : https://doi.org/10.26634/jic.3.2.3538

Abstract

The Inverted Pendulum (IP) system is a classic control problem which is used as benchmark and is easily available in laboratories to verify new control techniques evolved. The main aim of this paper, is to develop a controller to keep the pendulum upright and cart at desired position. In this paper, feedback linearization control technique is used to eliminate non linearity of this system and compared with conventional PID (Propositional- Integral- Derivative) controller. The MATLAB Simulink model has been developed for simulation, control and analysis of IP system. The result shows that the cart position and pendulum angle both acquired desired position quickly.

Keywords

Inverted Pendulum, Feedback Linearization, PID Control, Nonlinear System.

How to Cite this Article?

Yadav, G., and Prasad, L.B. (2015). Comparative Performance Analysis of Feedback Linearization Control and PID Control of Nonlinear Inverted Pendulum System. i-manager’s Journal on Instrumentation and Control Engineering, 3(2), 32-38. https://doi.org/10.26634/jic.3.2.3538

References

[1]. Lal Bahadur Prasad, Barjeev Tyagi and Hari Om Gupta, (2012). “Modelling and Simulation for Optimal Control of non-linear Dynamical System using PID Control and LQR”, Modelling Symposium (AMS), pp.138-143.
[2]. Lal Bahadur Prasad, Hari Om Gupta and Barjeev Tyagi, (2011). “Inverted Pendulm Dynamical System using Mamdani and TSK Fuzzy Inference system,” Proceedings of IEEE International Conference on Computational Intelligence and Computing Research, pp. 106-111.
[3]. Lal Bahadur Prasad, Barjeev Tyagi and Hari Om Gupta, (2014). “Optimal Control of Nonlinear Inverted Pendulum System Using PID Controller and LQR: Performance Analysis without and with Disturbance Input”, International Journal of Automation and Computing, Vol. 11, No. 6, pp. 661- 670.
[4]. S. K. Mishra and D. Chandra, (2014). “Stabilization and Tracking Control of Inverted Pendulum using Fractional order PID Controllers”, Journal of Engineering, pp.9.
[5]. M. Akole and Barjeev Tyagi, (2008). “ Design of Fuzzy Logic Controller for Nonlinear Model of Inverted Pendulumcart System”, XXXII National Systems Conference. NSC, pp. 750 -755.
[6]. Kiam Heong Ang, Gregory Chong and Y. Li, (2005). “PID Control System Analysis, Design and Technology”, IEEE Transactions on Control Systems Technology, Vol. 13, No. 4, pp. 559-576.
[7]. S.S.Sastry and A.Isidori, (1967). “Adaptive Control of Linearizable Systems”, IEEE Transactions on Automation Control, Vol.12, No.1, pp. 75-80.
[8]. K. J. Astrom and B. Wittenmark, “Adaptive Control”, 2nd ed. Pearson Education Pvt. Ltd. New Delhi.
[9]. R.M. Dressler, (1967). “An Approach to Model Reference Adaptive Control System,” IEEE Transaction on Automation Control, Vol.12, No.1, pp. 75-80.
[10]. Y.D. Landau, (1987). “Adaptive Control: the Model Reference Approach”, Marcel Dekker, New York.
[11]. H. Butler, (1992). “Model Reference Adaptive Control”. Prentice- Hall, New York.
[12]. I. J. Nagrath and M. Gopal, (2005). “Control System th Engineering”, 5 ed. New Age international (P) Ltd. New Delhi.
[13]. K.J. Astrom, (1983). “Theory and Applications of Adaptive Control-a Survey”. Automatica, Vol.19, No.5.
[14]. V. V. Chalam, (1987). “Adaptive Control Systems Techniques and Applications,” Marcel Dekker, New York.
[15]. N.S. Bhattathiri and P.A. Saraswathi, (2014). “ANN Control of Nonlinear and Unstable System and its Implementation on Inverted Pendulum System”, International Journal of Current Engineering and Technology, pp.2347-5161.
[16]. S. Sharma, V. Kumar and R.Kumar, (2012). “Supervised Online Adaptive Control of Inverted Pendulum System using ADALINE ANN with Varying System Parameters and External Disturbances”, International Journal of Intelligent Systems and Applications, pp.53-61.
[17]. K. Ogata, (2005). “Modern Control Engineering”, 4th ed. Pearson Education Pvt. Ltd., New Delhi.
If you have access to this article please login to view the article or kindly login to purchase the article

Purchase Instant Access

Single Article

North Americas,UK,
Middle East,Europe
India Rest of world
USD EUR INR USD-ROW
Online 200 35 35 200 15
Pdf 35 35 200 20
Pdf & Online 35 35 400 25

Options for accessing this content:
  • If you would like institutional access to this content, please recommend the title to your librarian.
    Library Recommendation Form
  • If you already have i-manager's user account: Login above and proceed to purchase the article.
  • New Users: Please register, then proceed to purchase the article.