Design and Implementation of Robust Digital Redesigned Controller to Balance an Inverted Pendulum System
Kanthalakshmi. S1, Vivekandan. C2, Kavithamani. A3, Manikandan. V4
1Kanthalakshmi.S, Department of Instrumentation and Control Systems Engineering, PSG College of Technology, Coimbatore, India.
2Vivekandan.C, Department of Electrical and Electronics Engineering, Coimbatore Institute of Technology, Coimbatore, India.
3Kavithamani.A, Department of Electrical and Electronics Engineering, Coimbatore Institute of Technology, Coimbatore, India.
4Manikandan.V,Department of Electrical and Electronics Engineering, Coimbatore Institute of Technology, Coimbatore, India.
Manuscript received on July 11, 2013. | Revised Manuscript received on July 15, 2013. | Manuscript published on July 25, 2013. | PP: 66-67 | Volume-1 Issue-9, July 2013. | Retrieval Number: I0381071913/2013©BEIESP
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© The Authors. Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This paper aims at designing a robust digital redesigned controller for a system of inverted pendulum. The issues considered for evaluation of the designed controller are the ‘closeness’ between the closed loop response of the continuous-time and discrete-time system and the stability of the redesigned digital system. The closeness aspect between the continuous-time system and its discrete-time equivalent is measured in the form of the integral error performance index and the stability of the redesigned system is ascertained in the sense of Lyapunov. The error in the digital redesign process is reduced using Feed Forward Back Propagation Neural Network Approach. The robustness and stability are achieved and tested with Lyapunov criteria. The design is practically verified with a real time implementation.
Keywords: Digital Controller, Digital Redesign, Neural Networks, Robustness, Lyapunov Stability.