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Model identification and real-time implementation of a linear parameter–varying control scheme on lab-based inverted pendulum system

  • Anila Barkat
    ,
  • Mirza Tariq Hamayun
    ,
  • Salman Ijaz
    ,
  • Saleem Akhtar
    ,
  • Ejaz Ahmad Ansari
    ,
  • Imran Ghous
Research Output: Contribution to journal Article Peer-review

Abstract

To research the tendencies of immediate change in the scheduled parameters, a linear parameter–varying control strategy is made in real time for lab-based inverted pendulum system. An adjusted and observing virtual instrument is designed in LabVIEW to construct this mechanism. To obtain the transient response data, a step response is transmitted by virtual instrument to the inverted pendulum by which model of inverted pendulum is identified. System model depicts its characteristics, so this model is employed in designing controller. To improve the performance and robustness, linear parameter–varying controller is created to deal with parameter distinctions. Furthermore, the effectiveness of this designed robust controller is checked by integrating on hardware system. The discovered model is checked by evaluating the presented approaches in real time and simulation outcomes with traditional controller as proportional–integral–derivative controller and linear–quadratic regulator.

Publication Information

Output type

Research Output: Contribution to journal Article Peer-review

Original language

English

Pages from-to (Number of pages)

Pages 30-38

Journal (Volume, Issue Number)

Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering (Volume 235, Issue 1)

Publication milestones

  • Published - 21/07/2020

Publication status

Published - 21/07/2020

ISSN

0959-6518

External Publication IDs

  • ORCID: /0000-0002-8215-4315/work/118801408
  • Scopus: 85088324026

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