Comparison analysis of vibrated inverted with cart pendulum using PID and observed based controllers

In this study, a cart with an inverted pendulum subjected to disturbance powers performed stability control utilizing eyewitness-based (observer-based) and Proportional-Integral-Derivative (PID) controllers. The Lagrangian relation has been utilized to structure the framework motions equations and f...

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Bibliographic Details
Main Authors: Aboud, Wajdi Sadik, Al-Amir, Hayder Sabah Abd, Al-Salbi, Firas Mahdi
Format: Conference Proceeding
Language:English
Subjects:
Control stability
Controllers
Pendulums
Power control
Proportional integral derivative
Stability
Online Access:Get full text
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Summary:In this study, a cart with an inverted pendulum subjected to disturbance powers performed stability control utilizing eyewitness-based (observer-based) and Proportional-Integral-Derivative (PID) controllers. The Lagrangian relation has been utilized to structure the framework motions equations and framework linearizing to the nonlinear high-order dynamic system. The objective of the suggested versatile fluctuation regulator is for maintaining the operation time power control activity of the inverted pendulum in the ongoing to definitively and straightaway fluctuate the pendulum reaches to inverted location. In this work, an upgraded composed suggested controller has been acquainted with controlling the reaction of the nonlinear inverted pendulum qualities within the sight of an outer unsettling influence signal Y. The frame stability comparison is examined by the simulation. The proposed controllers have been compared by adopting the Matlab_2020b program. The output responses are effectively determined. The comparison results of using the proposed observer-based controller (OBC) showed an improvement in depressing the oscillation overshooting and reducing settling time by 41.8% and 40.3 % respectively compared with the results obtained by using the PID controller.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0205944