A Study of PID Controller for Parallel Double-Linked Rotary Inverted Pendulum

Van-Dong-Hai Nguyen*, Thanh-Dat Ngo, Thi-Ngoc-Anh Luu, Tho-Khang Nguyen, Thien-Hai Huynh, Tri-Kiet Truong, Thanh-Ha Le, Van-Ha Le

Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan street, No. 01, Ho Chi Minh city, Vietnam
* Corresponding author. E-mail: hainvd@hcmute.edu.vn

Robotica & Management, Vol. 27, No. 2, pp. 24-28
DOI: https://doi.org/10.24193/rm.2022.2.4

Abstract: One-linked Rotary Inverted Pendulum is a classical model in control automation. Many directions of development to increase the complication is operated, such as, putting more link to create two-linked, three-linked… systems. Another direction which is less popular is creating a parallel double-linked rotary inverted pendulum. In this paper, we build a PID controller through investigation the operation of system for balancing this model and use genetic algorithm to find suitable control parameters. Genetic algorithm also show its ability in optimizing PID controller under different generations. These surveys are operated in Matlab/Simulink.

Keywords: parallel rotary inverted pendulum; PID control; genetic algorithm; optimizing controller; balancing control.

Full text


[1] Link: https://www.quanser.com/products/rotary-inverted-pendulum/

[2] Sarkar T.T., Dewan L., Mahanta C.: “Real Time Swing up and Stabilization of Rotary Inverted Pendulum System”, International Conference on Computational Performance Evaluation (ComPE), pp. 517-522, 2020.

[3] Link: https://www.quanser.com/products/rotary-double-inverted-pendulum/

[4] Link: https://www.quanser.com/quanser-community/research-papers/?fwp_research_papers_related_products=1738

[5] Zhang D., Cong S., Li Z., Qin Z.: „The Study of Swing Up and Balance Control for Rotary Parallel Inverted-pendulum”, Proceedings of the 4th World Congress on Intelligent Control and Automation, pp. 2370-2374, China, 2002.

[6] Tai V.M. et al.: „A Study of LQR Control for Balancing Rotary Parallel Inverted Pendulum System”, Journal of Science of Tien Giang University, 2022 (in progress).