Inverted pendulum trolley control system

Inverted pendulum trolley control system

Dmitry E. Miroslavsky
Candidate of Engineering Sciences, Leading Electronics Engineer, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

UDC identifier: 681.532

EDN: PZWCUU

Abstract. The article considers the procedure for synthesizing a controller for a linear motion control system of a trolley with an inverted pendulum installed on it. The synthesis is performed using the coefficient method. The relationships necessary for calculating the controller parameters for an idealized case are given, as well as for the case when the system structure and its parameters are close to real ones. Numerical examples of calculating controllers for specific systems and the results of mathematical modeling of their operation are given, confirming the high efficiency of the controllers obtained.

Key words: automatic control system, coefficient method, nonlinear unstable system, controller

For citation: Miroslavsky, D.E. (2025), "Inverted pendulum trolley control system", Robotics and Technical Cybernetics, vol. 13, no. 4, pp. 268-274, EDN: PZWCUU. (in Russian).

References

  1. Pesterev, A.V. and Morozov,Yu.V. (2022), “Stabilization of a bogie with an inverse pendulum”, Automation and Telemechanics, is. 1, pp. 95–112, DOI:10.31857/S0005231022010068 (in Russian).
  2. Miroslavsky, D.E. (2015), “Application of the coefficient method for the synthesis of controllers of automatic systems”, Results of Science, Is.18, Selected Works of the All-Russian Conference on Problems of Science and Technology, RAS, Moscow, Russia. (in Russian).
  3. Miroslavsky ,D.E. (2024), Proyektirovaniye regulyatorov obratimykh sledyashchikh sistem kopiruyushchikh manipulyatorov. Aktual'nye voprosy sovremennoy nauki i obrazovaniya. Monografiya [Design of controllers for reversible tracking systems of copying manipulators. Actual issues of modern science and education. Monograph], pp. 235–261, Penza, Russia. (in Russian).

Received 12.03.2025
Revised 12.03.2025
Accepted 18.05.2025