Robust Control Theory Based Performance Investigation of an Inverted Pendulum System using Simulink

In this paper, the performance of inverted pendulum have been Investigated using robust control theory. The robust controllers used in this paper are H∞ Loop Shaping Design Using Glover McFarlane Method and mixed H∞ Loop Shaping Controllers. The mathematical model of Inverted Pendulum, a DC motor, Cart and Cart driving mechanism have been done successfully. Comparison of an inverted pendulum with H∞ Loop Shaping Design Using Glover McFarlane Method and H∞ Loop Shaping Controllers for a control target deviation of an angle from vertical of the inverted pendulum using two input signals (step and impulse). The simulation result shows that the inverted pendulum with mixed H∞ Loop Shaping Controller to have a small rise time, settling time and percentage overshoot in the step response and having a good response in the impulse response too. Finally the inverted pendulum with mixed H∞ Loop Shaping Controller shows the best performance in the overall simulation result

Disturbance observer-based controller for inverted pendulum with uncertainties: Linear matrix inequality approach

A new approach based on linear matrix inequality (LMI) technique for stabilizing the inverted pendulum is developed in this article. The unknown states are estimated as well as the system is stabilized simultaneously by employing the observer-based controller. In addition, the impacts of the uncertainties are taken into consideration in this paper. Unlike the previous studies, the uncertainties in this study are unnecessary to satisfy the bounded constraints. These uncertainties will be converted into the unknown input disturbances, and then a disturbance observer-based controller will be synthesized to estimate the information of the unknown states, eliminate completely the effects of the uncertainties, and stabilize inverted pendulum system. With the support of lyapunov methodology, the conditions for constructing the observer and controller under the framework of linear matrix inequalities (LMIs) are derived in main theorems. Finally, the simulations for system with and without uncertainties are exhibited to show the merit and effectiveness of the proposed methods

Model-free controller design for nonlinear underactuated systems with uncertainties and disturbances by using extended state observer based chattering-free sliding mode control

MakaleWOS:000912458400001Most of the control strategies require a mathematical model or reasonable knowledge that is difficult to obtain for complex systems. Model-free control is a good alternative to avoid the difficulties and complex modeling procedures, especially if the knowledge about the system is insufficient. This paper presents a new control scheme completely independent of the system model. The proposed scheme combines sliding mode control (SMC) with intelligent proportional integral derivative (iPID) control based on a local model and extended state observer (ESO). Although the iPID control makes the proposed method model-free, it cannot guarantee that the tracking errors converge to zero asymptotically except the system is in a steady-state regime. Therefore, the SMC is added to the control scheme to ensure the convergence by minimizing the estimation errors of the observer. The proposed iPIDSMC controller is tested in the presence of different parameter variations and external disturbances on an inverted pendulum - cart (IPC), which is a highly unstable underactuated system with nonlinear coupled dynamics. The proposed controller is compared with the PID, iPID and Hierarchical Sliding Mode Control (HSMC) for a clearer evaluation. Simulation results showed that the proposed controller is extremely insensitive to parameter variations, matched and mismatched disturbances and the control signal of the proposed method is chattering-free, even though it is based on a discontinuous control action

Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems

This paper considers the stabilization problem for under-actuated rotary inverted pendulum systems (RotIPS) via a fuzzy-based continuous sliding mode control approach. Various sliding mode control (SMC) methods have been proposed for stabilizing the under-actuated RotIPS. However, there are two main drawbacks of these SMC approaches. First, the existing SMCs have a discontinuous structure; therefore, their control systems suffer from the chattering problem. Second, a complete proof of closed-loop system stability has not been provided. To address these two limitations, we propose a fuzzy-based (continuous) super-twisting stabilization algorithm (FBSTSA) for the under-actuated RotIPS. We first introduce a new sliding surface, which is designed to resolve the under-actuation problem, by combining the fully-actuated (rotary arm) and the under-actuated (pendulum) variables to define one sliding surface. Then, together with the proposed sliding surface, we develop the FBSTSA, where the corresponding control gains are adjusted based on a fuzzy logic scheme. Note that the proposed FBSTSA is continuous owing to the modified super-twisting approach, which can reduce the chattering and enhance the control performance. With the proposed FBSTSA, we show that the sliding variable can reach zero in finite time and then the closed-loop system state converges to zero asymptotically. Various simulation and experimental results are provided to demonstrate the effectiveness of the proposed FBSTSA. In particular, (i) compared with the existing SMC approaches, chattering is alleviated and better stabilization is achieved; and (ii) the robustness of the closed-loop system (with the proposed FBSTSA) is guaranteed under system uncertainties and external disturbances

Advanced Modeling, Control, and Optimization Methods in Power Hybrid Systems - 2021

The climate changes that are becoming visible today are a challenge for the global research community. In this context, renewable energy sources, fuel cell systems and other energy generating sources must be optimally combined and connected to the grid system using advanced energy transaction methods. As this reprint presents the latest solutions in the implementation of fuel cell and renewable energy in mobile and stationary applications such as hybrid and microgrid power systems based on the Energy Internet, blockchain technology and smart contracts, we hope that they will be of interest to readers working in the related fields mentioned above

Design and implementation of event-based multi-rate controllers for networked control systems

Tesis por compendio[ES] Con esta tesis se pretende dar solución a algunos de los problemas más habituales que aparecen en los Sistemas de control basados en red (NCS) como son los retardos variables en el tiempo, las pérdidas y el desorden de paquetes, y la restricción de ancho de banda y de recursos computacionales y energéticos de los dispositivos que forman parte del sistema de control. Para ello se ha planteado la integración de técnicas de control multifrecuencial, de control basado en paquetes, de control basado en predictor y de control basado en eventos. Los diseños de control realizados se han simulado utilizando Matlab-Simulink y Truetime, se ha analizado su estabilidad mediante LMIs y QFT, y se han validado experimentalmente en un péndulo invertido, un robot cartesiano 3D y en robots móviles de bajo coste. El artículo 1 aborda el control basado en eventos, el cual minimiza el ancho de banda consumido en el NCS mediante un control basado en eventos periódicos y presenta un método para obtener sus parámetros óptimos para el sistema específico en que se utilice. Los artículos 2, 4 y 6 añaden el control basado en paquetes, así como el control multifrecuencia, que aborda problemas de falta de datos por bajo uso del sensor y los retardos, pérdidas y desórdenes de paquetes en la red. También afrontan, mediante tecnicas de predicción basadas en un filtro de Kalman multifrecuencia variable en el tiempo, los problemas de ruido y perturbaciones, así como la observación de los estados completos del sistema. El artículo 7 hace frente a un modelo no lineal que utiliza las anteriores soluciones junto con un filtro de Kalman extendido para presentar otro tipo de estructura para un vehículo autónomo que, gracias a la información futura obtenida mediante estas técnicas, puede realizar de forma remota tareas de alto nivel como es la toma de decisiones y la monitorización de variables. Los artículos 3 y 5, presentan una forma de obtener y analizar la respuesta en frecuencia de sistemas SISO multifrecuencia y estudian su comportamiento ante ciertas incertidumbres o problemas en la red haciendo uso de procedimientos QFT.[CA] Amb aquesta tesi es pretén donar solució a alguns dels problemes més habituals que apareixen als Sistemes de Control Basats en xarxa (NCS) com son els retards d'accés i transferència variables en el temps, les pèrdues y desordenament de paquets, i la restricció d'ampli de banda així com de recursos computacionals i energètics dels dispositius que foment part del sistema de control. Per tal de resoldre'ls s'ha plantejat la integració de tècniques de control multifreqüencial, de control basat en paquets, de control basat en predictor i de control basat en events. Els dissenys de control realitzats s'han simulat fent ús de Matlab-Simulink i de TrueTime, s'ha analitzat la seua estabilitat mitjançant LMIs i QFT, i s'han validat experimentalment en un pèndul invertit, un robot cartesià 3D i en robots mòbils de baix cost. L'article 1 aborda el control basat en events, el qual minimitza l'ampli de banda consumit a l'NCS mitjançant un control basat en events periòdics i presenta un mètode per a obtindré els seus paràmetres òptims per al sistema específic en el qual s'utilitza. Els articles 2, 4 i 6 afegeixen el control basat en paquets, així com el control multifreqüència, que aborda problemes de falta de dades per el baix us del sensor i els retards, pèrdues i desordre de paquets en la xarxa. També afronten, mitjançant tècniques de predicció basades en un filtre de Kalman multifreqüència variable en el temps. Els problemes de soroll i pertorbacions, així com la observació dels estats complets del sistema. L'article 7 fa referència a un model no lineal que utilitza les anteriors solucions junt a un filtre de Kalman estès per a presentar altre tipus d'estructura per a un vehicle autònom que, gracies a la informació futura obtinguda mitjançant aquestes tècniques, pot realitzar de manera remota tasques d'alt nivell com son la presa de decisions i la monitorització de variables. Els articles 3 y 5 presenten la manera d'obtindre i analitzar la resposta en frequencia de sistemes SISO multifreqüència i estudien el seu comportament front a certes incerteses o problemes en la xarxa fent us de procediments QFT.[EN] This thesis attempts to solve some of the most frequent issues that appear in Networked Control Systems (NCS), such as time-varying delays, packet losses and packet disorders and the bandwidth limitation. Other frequent problems are scarce computational and energy resources of the local system devices. Thus, it is proposed to integrate multirate control, packet-based control, predictor-based control and event-based control techniques. The control designs have been simulated using Matlab-Simulink and Truetime, the stability has been analysed by LMIs and QFT, and the experimental validation has been done on an inverted pendulum, a 3D cartesian robot and in low-cost mobile robots. Paper 1 addresses event-based control, which minimizes the bandwidth consumed in NCS through a periodic event-triggered control and presents a method to obtain the optimal parameters for the specific system used. Papers 2, 4 and 6 include packet-based control and multirate control, addressing problems such as network delays, packet dropouts and packet disorders, and the scarce data due to low sensor usage in order to save battery in sensing tasks and transmissions of the sensed data. Also addressed, is how despite the existence of measurement noise and disturbances, time-varying dual-rate Kalman filter based prediction techniques observe the complete state of the system. Paper 7 tackles a non-linear model that uses all the previous solutions together with an extended Kalman filter to present another type of structure for an autonomous vehicle that, due to future information obtained through these techniques, can remotely carry out high level tasks, such as decision making and monitoring of variables. Papers 3 and 5, present a method for obtaining and analyzing the SISO dual-rate frequency response and using QFT procedures to study its behavior when faced with specific uncertainties or network problems.This work was supported by the Spanish Ministerio de Economía y Competitividad under Grant referenced TEC2012-31506.Alcaina Acosta, JJ. (2020). Design and implementation of event-based multi-rate controllers for networked control systems [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/159884TESISCompendi