Controlling Inverted Pendulum Using Performance-Oriented PDC Method

Kamran Vafaee^1, and Behdad Geranmehr¹

¹School of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, IRAN

Cite this paper:
Kamran Vafaee and Behdad Geranmehr. Controlling Inverted Pendulum Using Performance-Oriented PDC Method. Journal of Automation and Control. 2014; 2(2):39-44. doi: 10.12691/automation-2-2-1

Abstract

In this paper a performance-oriented Parallel Distributed Compensation (PDC) controller for Stabilizing the Linear Single Inverted Pendulum system is presented as a classical challenging benchmark problem in control engineering. The main idea of the original PDC method is to partition the dynamics of a nonlinear system into a number of linear subsystems, design a number of state feedback gains for each linear subsystem, and finally generate the overall state feedback gain by fuzzy blending of such gains. In Performance-Oriented PDC algorithm the state feedback gains are not considered constant through the linear subsystems, rather, based on some prescribed performance criteria, several feedback gains are associated to every subsystem, and the final gain for every subsystem is obtained by fuzzy blending of such gains. The model-based design methodology for mechatronic systems is a key factor for innovative and operative excellence in the design process. It was shown through this method of designing and simulation studies that application of the Performance-Oriented PDC method to such a challenging problem is robust against the uncertainties, while the control effort is still kept at an acceptable level.

Keywords:
Fuzzy Takagi–Sugeno model Parallel Distributed Compensation model-based mechatronic design Inverted Pendulum

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