Tracking Control of Position Servo and Stabilization of Rotary Inverted Pendulum Using ISM

Tracking control of position
servo and stabilization of

Rotary Inverted Pendulum
Using ISM
Presented by
Jalkote S S
Under the guidance of

Dr. S R Kurode
Outline
• Introduction
• Sliding mode control
• Integral Sliding Mode Control
• Problem statement
• Work done
• Simulation results
Introduction
 Position servo system
 Tracking control system
 Rotary inverted pendulum

Sliding mode control
 Introduction
X
Fig. Sliding Mode control

 Advantages
o Robust Control
o Reduction in order of state equation

Integral Sliding Mode Control
 Above problem can be solved by using ISMC.
 To design control law we use the sum of continues
and discontinues control
Consider a system of the form,
Sliding surface is considered as

 Advantages
o In ISMC, the system trajectory always starts from
the sliding surface.
o The order of the motion equation in ISMC is equal

to the order of the state space.
o Robustness of system can be guaranteed

throughout an entire response of the system.
Problem statement
1. Model of position servo

The plant consists of a D.C. motor.
Fig DC Motor Model

 Transfer Function is
Substituting all constants value

By using state space representation following
matrices are obtained
,
2. Tracking control problem
 Tracking control using SM:-
Consider xd as the desired reference such that
Let the sliding surface be
Control u is,
 Tracking control using ISM:-
Consider a system of the form,
Sliding surface is considered as
The Integral sliding mode control is of the form
Control u is,
Work done
 In this performance of the controller is tested in
simulation.
For this following are the simulation parameters
o CT matrix chosen was
CT = [-2.2900 -1.0000];
o LQR gain matrix K = [2.9580 0.0868];
o δ = 0.05 (sigmoid function was used to alleviate
chattering);
o Closed loop pole for LQR are
-2.2906 + 3.9090i, -2.2906 - 3.9090i;
o Closed loop pole for SMC is -2.2906;
o Sliding surface matrix G is
G = [0 0.0179];
 Figure 1.1 to 1.6 shows simulation results for

stabilisation control with and without disturbance.
 Figure 2.1 to 2.6 shows simulation results for

tracking control with and without disturbance.
1. Stabilisation control
2 2
 
 (rad/sec)
 (rad/sec)
1 -reqd 1 -reqd
0 0
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
Time t (sec) Time t (sec)
5 5
d /dt (rad/sec)
d /dt
d /dt (rad/sec)
d /dt
0 d /dt-reqd 0 d /dt-reqd
-5 -5
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
4 4
Control (u)
2
Control (u)
0 0
-2
-2 0 1 2 3 4 5 6 7 8 9 10
0 1 2 3 4 5 6 7 8 9 10
Time t (sec)
Time t (sec)
1.1 Stabilisation control Using LOR 1.2 Stabilisation control Using LOR with
without disturbance. disturbance.
1.5 2 1.5 3
 d /dt  d /dt
-reqd d /dt-reqd -reqd 2 d /dt-reqd
1 1 1
d /dt (rad/sec)
d /dt (rad/sec)
 (rad/sec)
 (rad/sec)
1
0.5 0 0.5
0
0 -1 0 -1
0 5 10 0 5 10 0 5 10 0 5 10
Time t (sec) Time t (sec) Time t (sec) Time t (sec)
1.5 0 1.5 0.02
-0.01
1 1
0
-0.02
Control (u)
Control (u)
Surface s
Surface s
0.5 0.5
-0.03
-0.02
0 0
-0.04
-0.5 -0.05 -0.5 -0.04

0 5 10 0 5 10 0 5 10 0 5 10
1.3 Stabilisation control Using SM without 1.4 Stabilisation control Using SM with
disturbance. disturbance.
1.5 4 1.5 4
 d /dt  d /dt
-reqd d /dt-reqd -reqd d /dt-reqd
d /dt (rad/sec)
1 2 1 2
d /dt (rad/sec)
 (rad/sec)
 (rad/sec)
0.5 0 0.5 0
0 -2 0 -2
0 5 10 0 5 10 0 5 10 0 5 10
3 1 3 0.015
2 0.5 2
0.01
Control (u)
Surface s
Control (u)
Surface s
1 0 1
0 -0.5
0.005
0
-1 -1 -1 0
0 5 10 0 5 10 0 5 10 0 5 10
1.5 Stabilisation control Using ISM without 1.6 Stabilisation control Using ISM with
2. Tracking control
10 10
 
 (rad/sec)
 (rad/sec)
5 -reqd 5 -reqd
0 0
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
2 2
d /dt d /dt
d /dt (rad/sec)
d /dt (rad/sec)
1 d /dt-reqd 1 d /dt-reqd
0 0
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
1 1
Control (u)
Control (u)
0.5 0.5
0 0
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
2.1 Tracking control using LQR without 2.2 Tracking control using LQR with
disturbance disturbance
10 1.5 10 1.5
 d /dt  d /dt
1
d /dt (rad/sec)
1
d /dt (rad/sec)
 (rad/sec)
 (rad/sec)
5 5
0.5 0.5
0 0 0 0
0 5 10 0 5 10 0 5 10 0 5 10
0.75 0.02 0.8 0.04
0.7 0.015 0.6 0.03
Control (u)
Control (u)
Surface s
Surface s
0.65 0.01 0.4 0.02
0.6 0.005 0.2 0.01
0.55 0 0 0
0 5 10 0 5 10 0 5 10 0 5 10
2.3 Tracking control using SM without 2.4 Tracking control using SM with
10 1.5 10 1.5
 d /dt  d /dt
1 1
d /dt (rad/sec)
d /dt (rad/sec)
 (rad/sec)
 (rad/sec)
5 5
0.5 0.5
0 0 0 0
0 5 10 0 5 10 0 5 10 0 5 10
0.8 1 0.8 0.015
0.6 0.5 0.6

0.01
Control (u)
Surface s
Control (u)
Surface s
0.4 0 0.4
0.005
0.2 -0.5 0.2
0 -1 0 0
0 5 10 0 5 10 0 5 10 0 5 10
2.5 Tracking control using ISM without 2.6 Tracking control using ISM with
Conclusion
 LQR based control gives good results but it required
more control efforts than SM control and SMC is more
robust.
 It is found from the simulation results that SM is robust

however ISM yields the robustness in the entire state
space.
 Both stabilisation and tracking control using ISM are

better in terms of performance and control.
Future Scope
 Real time implementation of the designed controller.
 Design and implementation of control for RIP using

ISM.
 Validation in simulation and experiment.

Thank You

Tracking Control of Position Servo and Stabilization of Rotary Inverted Pendulum Using ISM

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Tracking control of position

servo and stabilization of

Under the guidance of

 Tracking control system

 Rotary inverted pendulum

Fig. Sliding Mode control

o Reduction in order of state equation

Sliding surface is considered as

o The order of the motion equation in ISMC is equal

o Robustness of system can be guaranteed

1. Model of position servo

Fig DC Motor Model

Substituting all constants value

Let the sliding surface be

Sliding surface is considered as

The Integral sliding mode control is of the form

 Figure 1.1 to 1.6 shows simulation results for

 Figure 2.1 to 2.6 shows simulation results for

1.5 0 1.5 0.02

-0.5 -0.05 -0.5 -0.04

0.75 0.02 0.8 0.04

0.7 0.015 0.6 0.03

0.65 0.01 0.4 0.02

0.6 0.005 0.2 0.01

0.8 1 0.8 0.015

0.6 0.5 0.6

 It is found from the simulation results that SM is robust

 Both stabilisation and tracking control using ISM are

 Design and implementation of control for RIP using

 Validation in simulation and experiment.

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