Modeling and Control of Inertia Wheel Pendulum System with LQR and PID control

Alfiana Nur Hidayati, Unggul Wasiwitono

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This study presents an analysis, control, and comparison of controllers used to stabilize the IWP with the help of the torque generated by a wheel driven by a DC motor. The dynamics of the IWP with the proportional integral derivative (PID) control and linear quadratic regulator (LQR) control are explored. The effect of actuator saturation on control performance is also studied. Controller performance is evaluated through simulation by using the nonlinear model developed in Simscape Multibody. The system can always return to equilibrium with any initial angle, but as the initial angle increases, a higher input voltage is required. In the saturated case, the system can only return to equilibrium with a maximum initial angle of 14.5 degrees. The LQR control has less overshoot but takes a longer time to return to the equilibrium point.

Original languageEnglish
Title of host publicationProceedings - 2021 International Seminar on Intelligent Technology and Its Application
Subtitle of host publicationIntelligent Systems for the New Normal Era, ISITIA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages135-140
Number of pages6
ISBN (Electronic)9781665428477
DOIs
Publication statusPublished - 21 Jul 2021
Event2021 International Seminar on Intelligent Technology and Its Application, ISITIA 2021 - Virtual, Online
Duration: 21 Jul 202122 Jul 2021

Publication series

NameProceedings - 2021 International Seminar on Intelligent Technology and Its Application: Intelligent Systems for the New Normal Era, ISITIA 2021

Conference

Conference2021 International Seminar on Intelligent Technology and Its Application, ISITIA 2021
CityVirtual, Online
Period21/07/2122/07/21

Keywords

  • Inertia wheel pendulum
  • LQR
  • PID
  • saturation
  • self-balancing
  • state-feedback

Fingerprint

Dive into the research topics of 'Modeling and Control of Inertia Wheel Pendulum System with LQR and PID control'. Together they form a unique fingerprint.

Cite this