ANGLE CONTROL OF A SIMPLE STAGE INVERTED PENDULUM: COMPARISON BETWEEN PID, PI-D AND FUZZY
Laís Marino1; Bernardo de Oliveira Jakitsch1; Remberth Santos1; Pedro Américo Almeida Magalhães Jr.1; Jánes Landre Jr.1
1 PUC Minas
doi:10.20906/CPS/CILAMCE2017-0771
Resumo
There are several studies based on inverted pendulum control, because of its simplification of a nonlinear system, which is extremely unstable and multivariable. Its importance is given by the applications of this type of system, such as rockets launching, robots, altitude control of satellites, among others. The purpose of this work is to simulate different angle controls of a single-stage inverted pendulum using MATLAB® software in combination with SIMULINK®, these computational tools present great performance in development and simulation of control strategies. After modeled the problem, three control strategies were proposed: a parameterization of the PID controller via root locus, a controller with modified structure PI-D and, finally, a Mamdani fuzzy controller. The simulation consisted of two stages: in the first, different amplitudes disturbances were applied and, in the second, a noise was added. The fuzzy controller presented greater overshoot in both cases, but obtained lower oscillation and faster stabilization for smaller amplitude disturbances and disturbances with noise. In the first stage, the PI-D presented lower stabilization time for major disturbances.
Palavras-chave: Inverted pendulum simulation; Matlab®; Fuzzy control; Root locus