Model Identification and Control of a Lab Based Inverted Pendulum System Using Robust Control Technique

摘要

A robust control technique is designed for Inverted Pendulum (IP) system to investigate the behavior of rapid change in the scheduled parameters. The designed mechanism has a monitoring and calibrating Virtual Instrument (VI) which is constructed in LabVIEW. VI sends a step response to the IP and obtains the transient response data of the system used for model identification. This model is used in control designing part because model of every system represents its dynamic characteristics. In this paper Linear Parameter Varying (LPV) controller is designed to cater for the parameters variations to enhance the performance and robustness. Moreover, the designed robust controlled is implemented on hardware platform to show its effectiveness. The identified model is validated by comparing the proposed technique in simulations and real-time results with classical controllers like Linear Quadratic Regulation (LQR) and Proportional Integral Derivative (PID) controller.