Model identification and real-time implementation of a linear parameter–varying control scheme on lab-based inverted pendulum system

To research the tendencies of immediate change in the scheduled parameters, a linear parameter–varying control strategy is made in real time for lab-based inverted pendulum system. An adjusted and observing virtual instrument is designed in LabVIEW to construct this mechanism. To obtain the transien...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2021-01, Vol.235 (1), p.30-38
Main Authors: Barkat, Anila, Hamayun, Mirza Tariq, Ijaz, Salman, Akhtar, Saleem, Ansari, Ejaz Ahmad, Ghous, Imran
Format: Article
Language:English
Subjects:
Control systems design
Controllers
Mathematical models
Mechanical engineering
Parameter identification
Parameter robustness
Parameter varying control
Pendulums
Proportional integral derivative
Real time
Robust control
Step response
Transient response
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Summary:To research the tendencies of immediate change in the scheduled parameters, a linear parameter–varying control strategy is made in real time for lab-based inverted pendulum system. An adjusted and observing virtual instrument is designed in LabVIEW to construct this mechanism. To obtain the transient response data, a step response is transmitted by virtual instrument to the inverted pendulum by which model of inverted pendulum is identified. System model depicts its characteristics, so this model is employed in designing controller. To improve the performance and robustness, linear parameter–varying controller is created to deal with parameter distinctions. Furthermore, the effectiveness of this designed robust controller is checked by integrating on hardware system. The discovered model is checked by evaluating the presented approaches in real time and simulation outcomes with traditional controller as proportional–integral–derivative controller and linear–quadratic regulator.
ISSN:0959-6518
2041-3041
DOI:10.1177/0959651820935692