TY - GEN
T1 - Estabilización de Péndulo Invertido Empleando Controladores LQR, PID YPID Fraccionario
T2 - 2016 IEEE International Conference on Automatica, ICA-ACCA 2016
AU - Oróstica, Rodrigo
AU - Duarte-Mermoud, Manuel A.
AU - Jáuregui, Cristian
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/8
Y1 - 2016/12/8
N2 - In this paper, a simulated study of three different control strategies; Linear Quadratic Regulator (LQR), Integer order PID and Fractional order PID (FOPID), is performed in order to stabilize an inverted pendulum on a cart. First, a nonlinear model of the cart-pendulum system is presented which is used later in the simulations. The tuning parameters of all three controllers are obtained using the Particle Swarm Optimization (PSO) technique, with the Integral of the Squared Error (ISE) index as fitting function and employing a unit step as reference. The simulation results, when applying a unit step reference (same as in the PSO tuning process), show a better performance for the FOPID when using the cost function of the LQR as performance index. However, in a more general case of a sequence of step references, the LQR exhibits a better behavior.
AB - In this paper, a simulated study of three different control strategies; Linear Quadratic Regulator (LQR), Integer order PID and Fractional order PID (FOPID), is performed in order to stabilize an inverted pendulum on a cart. First, a nonlinear model of the cart-pendulum system is presented which is used later in the simulations. The tuning parameters of all three controllers are obtained using the Particle Swarm Optimization (PSO) technique, with the Integral of the Squared Error (ISE) index as fitting function and employing a unit step as reference. The simulation results, when applying a unit step reference (same as in the PSO tuning process), show a better performance for the FOPID when using the cost function of the LQR as performance index. However, in a more general case of a sequence of step references, the LQR exhibits a better behavior.
KW - Fractional order PID
KW - Inverted Pendulum
KW - Linear Quadratic Regulator
KW - Particle Swarm Optimization
KW - PID Control
KW - Stabilization
UR - https://www.scopus.com/pages/publications/85010380184
U2 - 10.1109/ICA-ACCA.2016.7778434
DO - 10.1109/ICA-ACCA.2016.7778434
M3 - Conference contribution
AN - SCOPUS:85010380184
T3 - 2016 IEEE International Conference on Automatica, ICA-ACCA 2016
BT - 2016 IEEE International Conference on Automatica, ICA-ACCA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 19 October 2016 through 21 October 2016
ER -