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Experimental application of subspace model identification of an unstable system

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Abstract

In this paper, an experimental application of subspace identification on an unstable inverted pendulum is considered. The work presents the controller design for the cart-inverted pendulum system. Modeling of an inverted pendulum system is discussed. The linearized model of the nonlinear system has one unstable and two stable poles. A PID controller is designed based on the pole placement method. Using this PID settings on the experimental system, the closed loop data are collected for the servo problem. A suitable transfer function model is identified using the subspace identification method. Based on this model, a PID controller is designed by the pole placement method. The performances of the two PID controllers are evaluated experimentally and compared.

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Authors and Affiliations

  1. IIT Madras, Chennai-36, India

    C. Sankar Rao & M. Chidambaram

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  1. C. Sankar Rao
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  2. M. Chidambaram
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Correspondence to M. Chidambaram.

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Rao, C.S., Chidambaram, M. Experimental application of subspace model identification of an unstable system. Int J Adv Eng Sci Appl Math 7, 70–76 (2015). https://doi.org/10.1007/s12572-015-0127-0

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