Scholarly record
PID CONTROL OF AN INERTIA WHEEL INVERTED PENDULUM
Abstract
The paper consists of a method to implement a control system algorithm for an inertia wheel inverted pendulum. Like any control system application, the transfer function of the plant should be known in order to design the proper controller. The key point of this paper is that the behaviour of the plant is consider unknown, so a system identification should be done at first. Even if the classical way to obtain the transfer function is by writing the physical equations, the result obtained from system identification covers the errors that might miss from the theoretical model. PID was chosen as control algorithm because, once implemented, it can be easily adjusted. The performance criteria for this system is the angular range of functionality, the stability in the equilibrium position and the sensitivity to external mechanical perturbations.
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