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Modular Control of a Rotary Inverted Pendulum System

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2016 ASEE Annual Conference & Exposition


New Orleans, Louisiana

Publication Date

June 26, 2016

Start Date

June 26, 2016

End Date

August 28, 2016





Conference Session

Engineering Technology Division Poster Session

Tagged Division

Engineering Technology

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Paper Authors


Xiumin Diao Purdue University

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Xiumin Diao received his B.S. degree in Mechanical Design and Manufacturing from Yantai University, China, in 2000, M.S. degree in Measurement Technology and Automatic Device from Beijing University of Aeronautics and Astronautics, China, in 2003, and Ph.D. degree in Mechanical Engineering from New Mexico State University, Las Cruces, New Mexico, in 2007. He is currently an Assistant Professor in the School of Engineering Technology, Purdue University, West Lafayette, Indiana, United States. His research interest includes robotics (kinematics, dynamics, and control) and mechatronics (system modeling, simulation, design, analysis and control). In particular, he is interested in applying robotics technologies for rehabilitation and advanced manufacturing. Prior to joining Purdue University in 2014, Dr. Diao has been a senior electro-mechanical engineer with Xcision Medical System (Columbia, Maryland, United States) for more than five years, developing medical devices using robotics and automation technologies.

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Control of an inverted pendulum is one of the most interesting and classical problems of control engineering. This paper addresses control design and implementation of a rotary inverted pendulum system. The system is developed for control instruction and laboratory exercise of feedback control for undergraduates. The control of the inverted pendulum system is to drive the pendulum from its hanging-down position to upright position and hold it there stably. The controller is decomposed into three sub-controllers: destabilizing controller, stabilizing controller, and mode controller. The destabilizing controller is employed to oscillates the pendulum back and forth until it builds up enough energy to break the hanging-down stable position and gets into a neighborhood of the upright unstable position. Then the stabilizing controller kicks in and maintains the pendulum in the upright unstable position with a capability of rejecting small disturbance to the pendulum. The mode controller is able to determine when to switch between the destabilizing controller and the stabilizing controller. The proposed control strategy of the inverted pendulum system is verified by both simulation and experiments. According to a qualitative student assessment survey, such a modularized control strategy helps students understand the control theory more effectively.

Diao, X. (2016, June), Modular Control of a Rotary Inverted Pendulum System Paper presented at 2016 ASEE Annual Conference & Exposition, New Orleans, Louisiana. 10.18260/p.25750

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