OS16-7 Stability Control of Inverted Pendulum Based on Multi-loop PID

Title:	OS16-7 Stability Control of Inverted Pendulum Based on Multi-loop PID
Publication:	ICAROB2018
Volume:	23
Pages:	645-648
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2018.OS16-7
Author(s):	Zhongyong Ye, Fengzhi Dai, Yuxing Ouyang, Yujie Yan, Xia Jin, Lingran An, Hongwei Jiao
Publication Date:	February 2, 2018
Keywords:	Inverted pendulum, Multi-loop PID control, Output feedback, Simulink
Abstract:	The traditional PID control can be very good for the stability of the pendulum angle control, but for the location control of car that loads the pendulum, it can do nothing. That is, the car will go along the rail without restrictions on the movement. The car and inverted pendulum system is a single-input multiple output instability system, so the multi-loop PID controller is designed based on the output feedback that is particularly important. Simulation shows the feasibility of using the multi-loop PID control, indicating that improved PID control is entirely feasible.
PDF File:	https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS16/OS16-7.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/