Implementation of a Controller to Eliminate the Limit Cycle in the Inverted Pendulum on a Cart

A frequency response-based linear controller is implemented to regulate the inverted pendulum on a cart at the inverted position. The objective is to improve the performance of the control system by eliminating the limit cycle generated by the dead-zone, induced by static friction, at the actuator o...

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Bibliographic Details
Published in:Complexity (New York, N.Y.) N.Y.), 2019-01, Vol.2019 (2019), p.1-13
Main Authors: Silva-Ortigoza, Gilberto, Silva-Ortigoza, R., Hernández-Guzmán, Victor Manuel, Antonio-Cruz, M.
Format: Article
Language:English
Subjects:
Actuators
Design
Economic models
Frequency response
Friction
Mathematical problems
Nonlinear systems
Performance enhancement
Robotics
Static friction
Systems stability
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Summary:A frequency response-based linear controller is implemented to regulate the inverted pendulum on a cart at the inverted position. The objective is to improve the performance of the control system by eliminating the limit cycle generated by the dead-zone, induced by static friction, at the actuator of the mechanism. This control strategy has been recently introduced and applied by the authors to eliminate the limit cycle in the Furuta pendulum and the pendubot systems. Hence, the main aim of the present paper is to study the applicability of the control strategy to eliminate the limit cycle in the inverted pendulum on a cart. The successful results that are obtained in experiments corroborate that the approach introduced by the authors to eliminate the limit cycle in the Furuta pendulum and pendubot is also valid for the inverted pendulum on a cart.
ISSN:1076-2787
1099-0526
DOI:10.1155/2019/8271584