Autors: Perev, K. L.
Title: PID control of the inverted pendulum
Keywords: inverted pendulum, cart – pendulum system, PID control

Abstract: This paper considers the problem of inverted pendulum stabilization and performance improvement by using PID regulation. The dynamical system model is derived in the framework of the Lagrange – Euler equations and the model parameters are evaluated by using specific identification procedures. The parameter tuning of the PID controller is based on the method of dominant pole selection. Different simulations are performed, showing the influence of the third pole placement on the closed-loop system performance.

References

    Issue

    COMSCI'23, pp. 1 - 6, 2023, Bulgaria, IEEEXplore Proceedings COMSCI'23

    Вид: публикация в национален форум с межд. уч., публикация в реферирано издание, индексирана в Scopus