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Frontiers of Information Technology (2011)
Islamabad, Pakistan
Dec. 19, 2011 to Dec. 21, 2011
ISBN: 978-0-7695-4625-4
pp: 183-188
Zaka-ur-Rehman , Dept. of Electr. Eng., COMSATS Inst. of Inf. Technol., Islamabad, Pakistan
M. Hamza , Dept. of Electr. Eng., COMSATS Inst. of Inf. Technol., Islamabad, Pakistan
Q. Zahid , Dept. of Electr. Eng., COMSATS Inst. of Inf. Technol., Islamabad, Pakistan
F. Tahir , Dept. of Electr. Eng., COMSATS Inst. of Inf. Technol., Islamabad, Pakistan
Z. Khalid , Dept. of Electr. Eng., COMSATS Inst. of Inf. Technol., Islamabad, Pakistan
ABSTRACT
In this paper, we consider the problem of real-time control of an Inverted Pendulum. We design and implement four different control algorithms, namely PID, Pole placement, LQR and Fuzzy Logic. These controllers are applied to the Inverted Pendulum in real-time and their performance is compared on the basis of Pendulum regulation, disturbance rejection and control energy specifications. We also provide a performance comparison based on the ISE index.
INDEX TERMS
three-term control, fuzzy control, linear quadratic control, nonlinear control systems, pendulums, state feedback, ISE index, real-time control, inverted pendulum, PID control, pole placement, LQR, fuzzy logic control, pendulum regulation, disturbance rejection, control energy specifications, Real time systems, Mathematical model, Fuzzy logic, MATLAB, Equations, Force, Simulation
CITATION
Zaka-ur-Rehman, M. Hamza, Q. Zahid, F. Tahir, Z. Khalid, "Real-Time Control of an Inverted Pendulum: A Comparative Study", Frontiers of Information Technology, vol. 00, no. , pp. 183-188, 2011, doi:10.1109/FIT.2011.41
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