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Vol. 156, Issue 9, September 2013, pp. 324-329




Digital Double-loop PID Controller for Inverted Pendulum
Ming Li

College of Mathematics & Computer Science, Wuhan Textile University, Wuhan, 430070, China
Tel.: 0086-27-59367297
E-mail: lettermail.lm@gmail.com


Received: 5 June 2013   /Accepted: 25 August 2013   /Published: 30 September 2013

Digital Sensors and Sensor Sysstems


Abstract: Inverted pendulum system is a complicated, unstable and multivariable nonlinear system. In order to control the angle and displacement of inverted pendulum system effectively, a novel double-loop digital PID control strategy is presented in this paper. Based on impulse transfer function, the model of the single linear inverted pendulum system is divided into two parts according to the controlled parameters. The inner control loop that is formed by the digital PID feedback control can control the angle of the pendulum, while in order to control the cart displacement, the digital PID series control is adopted to form the outer control loop. The simulation results show the digital control strategy is very effective to single inverted pendulum and when the sampling period is selected as 50 ms, the performance of the digital control system is similar to that of the analog control system.


Keywords: Inverted pendulum, Double-loop PID control, Digital control, Sampling period.


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