Publication Type : Journal Article
Publisher : Lecture Notes in Electrical Engineering, Springer Singapore
Source : Lecture Notes in Electrical Engineering, Springer Singapore, Volume 672, Singapore, p.1401-1414 (2020)
ISBN : 9789811555589
Campus : Coimbatore
School : School of Engineering
Department : Electrical and Electronics
Year : 2020
Abstract : Inverted pendulum is an inherently unstable system which is extensively used for experimental analysis and studies. It is a nonlinear system with its centre of gravity above the pivot point; owing to this, the system is difficult to control; and controller design for balancing the pendulum is quite challenging. The work deals with modelling and designing of various controllers for QUANSER QUBE Servo 2 Rotary Pendulum system developed by National Instruments and comparison of their performances in balancing it in the upright position. The designed controllers include the conventional PID controller, linear quadratic regulator (LQR), full-state feedback controller and cascade PID controller. From the simulation results, it is found that the cascaded PID and LQR controllers provide better response of the system by balancing the pendulum with least settling time.
Cite this Research Publication : G. Anjana and S. Selva Kumar, “A Comparative Study of Controllers for QUANSER QUBE Servo 2 Rotary Inverted Pendulum System”, Lecture Notes in Electrical Engineering, vol. 672, pp. 1401-1414, 2020.