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High Quality Stabilization of an Inverted Pendulum Using the Controller Based on Trigonometric Function

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Advances in Dependability Engineering of Complex Systems (DepCoS-RELCOMEX 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 582))

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Abstract

Inverted pendulum is an example of a model that is used to simulate many phenomena eg. quiet standing. Because it is a non-linear object and it is difficult to stabilize, new ways of controlling and stabilizing the inverted pendulum are constantly being sought. Finding these methods is very important in the reliable operation of the whole system of which the inverted pendulum is a part. It should be emphasized that the inverted pendulum generally has its critical point beyond which it falls over, which makes the further work of the system impossible. This paper shows a new approach to stabilization it using trigonometric functions that are oscillating. The presented solution is characterized by high stabilization efficiency simultaneously for small and large swinging of the pendulum. The concept of stabilizing the pendulum is based on the similarity of coping with this problem by human individual. The individual without knowing the mathematical model of the object is able to stabilize the inverted pendulum by oscillating movements, changing the amplitude and the oscillation period. Such an action can be described by a trigonometric function.

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Author information

Authors and Affiliations

  1. Wroclaw University of Science and Technology, ul. Wyb. Wyspianskiego 27, 50-370, Wroclaw, Poland

    Michał Lower

Authors
  1. Michał Lower
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Correspondence to Michał Lower .

Editor information

Editors and Affiliations

  1. Department of Computer Engineering, Wrocław University of Technology Department of Computer Engineering, Wrocław, Poland

    Wojciech Zamojski

  2. Department of Computer Engineering, Wrocław University of Technology Department of Computer Engineering, Wrocław, Poland

    Jacek Mazurkiewicz

  3. Department of Computer Engineering, Wrocław University of Technology, Wroclaw, Poland

    Jarosław Sugier

  4. Department of Computer Engineering, Wrocław University of Technology Department of Computer Engineering, Wrocław, Poland

    Tomasz Walkowiak

  5. Systems Research Institute, Polish Academy of Sciences Systems Research Institute, Warsaw, Poland

    Janusz Kacprzyk

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Lower, M. (2018). High Quality Stabilization of an Inverted Pendulum Using the Controller Based on Trigonometric Function. In: Zamojski, W., Mazurkiewicz, J., Sugier, J., Walkowiak, T., Kacprzyk, J. (eds) Advances in Dependability Engineering of Complex Systems. DepCoS-RELCOMEX 2017. Advances in Intelligent Systems and Computing, vol 582. Springer, Cham. https://doi.org/10.1007/978-3-319-59415-6_24

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  • DOI: https://doi.org/10.1007/978-3-319-59415-6_24

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-59414-9

  • Online ISBN: 978-3-319-59415-6

  • eBook Packages: EngineeringEngineering (R0)

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