Mechatronic Control Model of an inverted pendulum
Journal Title: IOSR Journals (IOSR Journal of Electrical and Electronics Engineering) - Year 2017, Vol 12, Issue 6
Abstract
The inverted pendulum, a popular mechatronic application, is considered as a special class of unstable, non-linear, multivariable and complex mechatronic systems with two degrees of freedom and a single control input. This system is considered as a keen area of interest for researchers in the field of stabilization, control engineering and robotics. In this paper, a mechatronic approach to design a controller for an inverted pendulum is presented through a Bong Graph Method. First, a non-linear dynamic model of the inverted pendulum is developed by means of the Bond Graph Approach. Second, the proposed control law is derived from the Inverse Bond Graph Model of the inverted pendulum using the Bicausality concept. The robustness and effectiveness of the proposed control is verified and simulation results are conducted so as to confirm the validity of the proposed technique. Hands-on experience is carried out by means of the 20-sim software package (a demo version is freely available on the Internet).
Authors and Affiliations
Zakaria Khaouch, Mustapha Zekraoui, Nourreeddine Kouider
Keywords
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- EP ID EP388462
- DOI 10.9790/1676-1206022430.
- Views 161
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