Songmoung Nundrakwang

Hybrid Controller for Swinging up Inverted Pendulum System

A hybrid controller for swinging up inverted pendulum system is proposed in this paper. The controller composes of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position by moving the cart back and forth until the pendulum swings up around the upright position. The second part is a servo state feedback control designed by LQR which will be switched to stabilize the inverted pendulum in its upright position. The effectiveness and reliability of the proposed hybrid controller for swinging up inverted pendulum on cart are also shown by the experimental results

Hybrid controller for rotational inverted pendulum systems

In this paper, a controller designed by energy control technique and servo state feedback with minimum-order observer control algorithm to swing up the pendulum of the rotational inverted pendulum system from the natural pendent position to around the upright position and to stabilize the pendulum in upright position is proposed. The proposed control scheme composes of two parts. The first part is the swing-lip control using the energy-based controller and the second part is the stabilizing control using the servo state feedback with minimum-order observer controller. From the implementation of the controller to the rotational inverted pendulum system in laboratory, the pendulum can be swung up within a short period of time with small oscillation of the base angle. Furthermore, without changing the parameters of the proposed controller, the responses of the system when changing the length of the pendulum is also shown to demonstrate the robustness of the proposed control system.

I-PD and PD controllers designed by CRA for overhead crane system

An overhead crane system controlled by an I-PD controller incorporating with PD controller is presented in this paper. The characteristic ratio assignment method is employed to design the I-PD controller and the PD controller for controlling the position of trolley and for controlling the load swing angle of the overhead crane system, respectively. Using the concept of characteristic ratio assignment method, the speed of the step response can also be increased by using a design factor k. The simulation results show that the step response can reach to the desired position without overshoot and with small load swing angle. The slightly change of the step responses when changing the parameters of the overhead crane system are also shown. The simulation results also show that when the speed of the step response is increased, the load swing angle is large related to the speed increased while the disturbance effect rejection is fast.

Hybrid Controller for Inverted Pendulum System

In this paper, a hybrid controller designed for swinging up and stabilizing an inverted pendulum on cart system is presented. The controller composes of a PD controller and a sliding mode controller. The PD controller is implemented to control the position of the cart to swing up the pendulum from the natural pendent position to around the upright position, while the sliding mode controller is implemented to stabilize the inverted pendulum in the upright position. Root-locus method is applied to design the PD controller and LQR method is employed to design the sliding mode controller. The implementation results of the proposed hybrid controller are shown in this paper.

Simplified Design of PI Controller Based on CDM

This paper presents the simplified design of a PI controller for a higher-order plant by using the concept of plant model reduction and coefficient diagram method with less number of stability index gamma i. The higher-order plant model is first reduced to be a lower-order plant model by ignoring its non-dominant poles. Secondly, the PI controller is designed for the lower-order plant model by using coefficient diagram method with the appropriate values of stability index in order to obtain its system response without overshoot. Thirdly, the designed PI controller is used to control the original higher-order plant. The simulation results show that the PI controller designed from the lower-order plant model is sufficient for controlling the original higher-order plant with acceptable performance

CDM Based Servo State Feedback Controller with Minimum-order Observer for Crane System

In this paper, the design of servo state feedback controller with minimum-order observer by using the concept of coefficient diagram method (CDM) for crane system is presented. An integrator is augmented to the system so that the system will exhibit no steady-state error in the response to step input. In order to apply the CDM method, the mathematical model of the crane system must be firstly linearized and converted into controllable canonical form by transformation matrix. Then feedback gain matrix, integral gain and observer gain matrix in sense of CDM can be obtained. The satisfied performances of the crane system controlled by the proposed controller are shown in simulation results

Energy Analysis in Zigbee Based Wireless Sensor Node Powered by Piezoelectric Energy Harvester

Recently, an integration of wireless sensor network with energy harvesters is getting more interested because it can extend the life time of battery in a sensor node, which is very important in many applications. This paper presents the concept of energy analysis in Zigbee based wireless sensor network, which is powered by a piezoelectric energy harvester to optimize the algorithms used in wireless sensor network. In this work, difference aspects related to piezoelectric energy harvester, characteristic of power consumption in Zigbee based wireless sensor node and concept of optimizing algorithms to balance input and output power in the integrated system are proposed. Keywords: energy harvesting, piezoelectric transducer, Zigbee based wireless sensor network

Simplified design of I-P controller for speed control of two-inertia system

In this paper, a simplified design of I-P controller for a higher-order plant by using the concept of plant model reduction mid the CRA method with less number of characteristic ratios alphai is presented. The Pade type approximation method is used to obtain a lower-order plant model of the higher-order plant first. Then an I-P controller is designed for the model by using CRA method with the appropriate values of characteristic ratios in order to obtain the closed-loop step response without overshoot. Finally, the designed I-P controller is employed to control the original higher-order plant. The sufficient performance of the speed control of a two-inertia system employing the I-P controller designed from its lower-order plant model is shown by the simulation results. The simulation results of the speed control in term of varying the value of a factor beta greater than one in the design, tracking the motor speed, and rejecting the disturbance effect are also investigated.

Implementation of Swinging-up and Stabilizing Controllers for Inverted Pendulum on Cart System

In this paper, an implementation of swinging-up and stabilizing controllers for an inverted pendulum on cart is presented. The energy control concept is employed to swing the inverted pendulum up to around the upright position within the assigned switching condition. After that, the stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by coefficient diagram method. The experimental results show that the designed controllers can be mutually operated with acceptable efficiency.

Multivariable control of overhead crane system by CRA method

In this paper, three controllers, namely I-PD, PD and I-P controllers designed by CRA method for simultaneously controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system is proposed. The non-linear model of the crane system is first approximated to be three transfer functions in accordance with the trolley position, load-swing angle and hoisting rope length respectively. Then, the corresponding parameters of the I-PD, PD and I-P controllers are designed independently based on the appropriate values of generalized time constant and characteristic ratios. The implementation results show the good performances of the overhead crane system controlled by these controllers. The speed adjustment effects and fast rejection of the disturbance effect occurred at the input force of the trolley are also shown by the experimental results.