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Article
Full State Feedback Full State Feedback H2 and H-infinity Controllers Design for a Two Wheeled Inverted Pendulum System

Authors: Zain. M. Shareef --- Hazem. I. Ali
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2018 Volume: 36 Issue: 10 Part (A) Engineering Pages: 1110-1121
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

In this work, two robust controllers, which are full state feedback,


Article
Hard Constraints Explicit Model Predictive Control of an Inverted Pendulum

Authors: Haider A. F. Mohamed --- Masood Askari and M. Moghavvemi
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2010 Volume: 6 Issue: 1 Pages: 28-32
Publisher: Basrah University جامعة البصرة

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Abstract

In this paper, explicit model predictive controller isapplied to an inverted pendulum apparatus. Explicit solutionsto constrained linear model predictive controller can becomputed by solving multi-parametric quadratic programs.The solution is a piecewise affine function, which can beevaluated at each sample to obtain the optimal control law. Theon-line computation effort is restricted to a table-lookup. Thisadmits implementation on low cost hardware at high samplingfrequencies in real-time systems with high reliability and lowsoftware complexity. This is useful for systems with limitedpower and CPU resources


Article
On-Line Tuning Sliding Mode Controller Design for Nonlinear Inverted Pendulum System based on Bees Algorithm

Authors: Khulood E. Dagher --- Ahmed Ibraheem Abdulkareem
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2016 Volume: 34 Issue: 8 Part (A) Engineering Pages: 1575-1587
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This paper proposes a modified swing control for a nonlinear inverted pendulum system by utilizing the sliding mode controller based on the on-line tuningBeesalgorithm as speed of optimization and accuracy of results. The goal of the proposed nonlinear controller is to obtainthe optimal force control action for the pendulumcart in order to stabilize the pendulum in the inverted position precisely and quickly.The optimal parameters of the nonlinear controller are on-line tuned by Bees algorithm and guided by Lyapunov stability criterionto reduce the amplitude of the sliding mode signum function in order to eliminate the chattering phenomena and make the smoothness control action.Matlab simulation results confirm the validity of the proposed controller algorithm in terms offast dynamic response, minimizing the pendulum’s angle tracking error to the zero radianat 2.5 second and obtaining the optimal and smooth force control action without saturation state, with the minimum number of fitness evaluation of the algorithm.


Article
Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic Algorithm

Author: Ahmed Sabah Al-Araji
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2016 Volume: 34 Issue: 15 Part (A) Engineering Pages: 2897-2910
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

A new development of a swing-tracking control algorithm for nonlinear inverted pendulum system presents in this paper. Sliding mode control technique is used and guided by Lyapunov stability criterion and tuned by Bees-slice genetic algorithm (BSGA). The main purposes of the proposed nonlinear swing-tracking controller is to find the best force control action for the real inverted pendulum model in order to stabilize the pendulum in the inverted position precisely and quickly. The Bees-slice genetic algorithm (BSGA) is carried out as a stable and robust on-line auto-tune algorithm to find and tune the parameters for the sliding mode controller. Sigmoid function is used as signum function for sliding mode in order to eliminate the chattering effect of the fast switching surface by reducing the amplitude of the function output. MATLAB simulation results and LabVIEW experimental work are confirmed the performance of the proposed tuning swing-tracking control algorithm in terms of the robustness and effectiveness that is overcame the undesirable boundary disturbances, minimized the tracking angle error to zero value and obtained the smooth and best force control action for the pendulum cart, with fast and minimum number of fitness evaluation.


Article
Optimal and Robust Tuning of State Feedback Controller for Rotary Inverted Pendulum

Authors: Hazem I. Ali --- Rasha Mohammed Naji
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2016 Volume: 34 Issue: 15 Part (A) Engineering Pages: 2924-2939
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This paper presents the design and implementation of optimal and robust state feedback controller for rotary inverted pendulum system. The Particle Swarm Optimization (PSO) method is used to find the optimal values of the state feedback gains subject to time response specifications and H_∞ constraints. To improve the tracking of the system, a robust state feedback plus integral controller is designed. The simulation results show that the proposed controller can effectively stabilize the pendulum at the upright position. Further, the proposed controller can compensate the variations in system parameters. The effectiveness of the proposed controller is verified experimentally using real rotary inverted pendulum.


Article
Robust Full State Feedback Controller Design Using H∞ for Inverted Pendulum System

Author: Abdul Muhsin M. Al Timimi
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2018 Volume: 18 Issue: 1 Pages: 39-48
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This paper presents the design of a full state feedback controller to an inverted pendulum system. The nonlinear and linearized models of the system are obtained. The main goal of the proposed controller is to maintain the pendulum in the upright position and achieve a desirable tracking for the cart position. To achieve desirable tracking properties an integral term is added. The robustness of the proposed controller is examined when a 20% variation in the parameters of system is considered.


Article
Trajectory Control of a Cart-inverted Pendulum System in the Presence of a Jet Force for an Open Loop Stabilization
الاستقرارية والتتبع في منظومة بندول معكوس محمول محمول على عربة

Author: Zakariya Yahya Mohammad زكريا يحيى محمد
Journal: Journal of Engineering and Sustainable Development مجلة الهندسة والتنمية المستدامة ISSN: 25200917 Year: 2011 Volume: 15 Issue: 3 Pages: 75-90
Publisher: Al-Mustansyriah University الجامعة المستنصرية

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Abstract

This paper presents an investigation on the stabilization and the tracking problem of an inverted pendulum-cart system. An open loop subsystem is augmented to the original components which comprises an auxiliary stable pendant pendulum, (P.P.), and a jet force component. The latter is attached firmly to the auxiliary pendulum in such a way to keep the jet force acting in an alignment to this pendulum. The dynamic equations of the system are derived using Lagrange formulation. The jet force locates the inverted pendulum in the up-right position and holds it stable. A scheme based on model reference and error driven control is proposed to track the system along a pre-specified trajectory, while the inverted pendulum, (I.P.), maintains it's up-right position with fairly negligible oscillation. Real-time dynamic simulation is performed and the results of which are presented to illustrate the validity of the proposed approach.

يقدم هذا البحث دراسة حول الاستقرارية والتتبع في منظومة بندول معكوس محمول على عربة. وقد أضيفت إلى المكونات الأصلية منظومة ثانوية بدارة مفتوحة مكونة من بندول بندانت المستقر وجزء لتوليد قوة بثق ويرتبط هذا الأخير بثبات إلى البندول المساعد بحيث يحافظ على تأثير قوة البثق باستقامة مع هذا البندول. تم الحصول على المعادلات الداينميكية للمنظومة باستخدام صيغة لاكرينج. تعمل قوة البثق على وضع البندول المعكوس شاقوليا وتحافظ على استقراريته. في هذه الدراسة تم اقتراح أسلوب للسيطرة اعتمادا على مراجعة النموذج والخطأ وذلك لغرض تتبع المنظومة لمسار معين في حين يحافظ البندول المعكوس على وضعه الشاقولي بتأرجح ضئيل يمكن إهماله. وقد تم إجراء محاكاة للداينميكية في الزمن الحقيقي واستعراض النتائج لإيضاح صلاحية الأسلوب المقترح.


Article
H2 Sliding Mode Controller Design for Mobile Inverted Pendulum System

Authors: Mustafa J. Kadhim --- Hazem I. Ali
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2018 Volume: 18 Issue: 2 Pages: 17-29
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

The design of an H2 sliding mode controller for a mobile invertedpendulum system is proposed in this paper. This controller is conducted to stabilizethe mobile inverted pendulum in the upright position and drive the system to adesired position. Lagrangian approach is used to develop the mathematical modelof the system. The H2 controller is combined with the sliding mode control to give abetter performance compared to the case of using each of the above controllersalone. The results show that the proposed controller can stabilize the system anddrive the output to a given desired input. Furthermore, variations in systemparameters and disturbance are considered to illustrate the robustness of theproposed controller.


Article
Intelligent Feedback Scheduling of Control Tasks

Author: Fatin I. Telchy
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2014 Volume: 10 Issue: 2 Pages: 64-79
Publisher: Basrah University جامعة البصرة

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Abstract

an efficient feedback scheduling scheme based on the proposed Feed Forward Neural Network (FFNN)scheme is employed to improve the overall control performance while minimizing the overhead of feedbackscheduling which exposed using the optimal solutions obtained offline by mathematical optimization methods. Thepreviously described FFNN is employed to adapt online the sampling periods of concurrent control tasks withrespect to changes in computing resource availability. The proposed intelligent scheduler will be examined withdifferent optimization algorithms. An inverted pendulum cost function is used in these experiments. Then,simulation of three inverted pendulums as intelligent Real Time System (RTS) is described in details.Numerical simulation results demonstrates that the proposed scheme can reduce the computationaloverhead significantly while delivering almost the same overall control performance as compared to optimalfeedback scheduling


Article
Modeling and Simulation of Linear and Nonlinear Dynamic Model for Double Inverted Pendulum on Cart System

Author: Shuruq Abd Al-meer
Journal: Journal of University of Babylon مجلة جامعة بابل ISSN: 19920652 23128135 Year: 2018 Volume: 26 Issue: 1 Pages: 94-101
Publisher: Babylon University جامعة بابل

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Abstract

This paper displays linear and nonlinear model for double inverted pendulum system depended on Lagrange equation and the system response for linear and nonlinear of DIPS are noted and analyzed. The inverted pendulum has been advanced for a laboratory experiments. The essential variance between the linear and nonlinear equation is present. This analysis is useful for progress of effective controller for a DIPS.

يعرض هذا البحث النموذج الخطي والغير خطي لنظام مزدوج البندول المقلوب اعتمادا على معادلة لاكرنج واستجابة النظام الخطي والغير خطي قد تم ملاحظتها وتحليلها . وان البندول المقلوب طور لإجراء التجارب المختبرية. التباين الجوهري بين المعادلة الخطية وغير الخطية تمت ملاحظتها خلال الاشتقاق . هذا التحليل مهم في تطوير المسيطر الفعال لنظام مزودج البندول المقلوب.

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