Simulation studies of inverted pendulum based on PID controllers英文文献.pdfVIP

Simulation Modelling Practice and Theory xxx (2010) xxx–xxx Contents lists available at ScienceDirect Simulation Modelling Practice and Theory journal homepage: /locate/simpat Simulation studies of inverted pendulum based on PID controllers Jia-Jun Wang ⇑ Institute of Automation, Hangzhou Dianzi University, Hangzhou, 310018 Zhejiang, PR China a r t i c l e i n f o a b s t r a c t Article history: The inverted pendulum problem is one of the most important problems in control theory Received 11 November 2009 and has been studied excessively in control literatures. When a control system have more Received in revised form 3 August 2010 than two PID controllers, the adjustment of PID parameters is not an easy problem. In this Accepted 6 August 2010 paper, PID controllers are applied to the stabilization and tracking control of three types of Available online xxxx inverted pendulum. The way how to design the PID controllers is given step by step in this paper. Simulation results prove that the way to design of PID controllers is very simple and Keywords: effective. The system design not only can realize stabilization and tracking control of three Inverted pendulum PID controller types of inverted pendulum, but also have robustness to outer large and fast disturbances. Stabilization 2010 Elsevier B.V. All rights reserved. Tracking control 1. In