Experimental and Implementation of Robust Control Via Floating Air Levitation and Balancing Rotary Inverted Pendulum

Abstract

This paper presents the implementation of robust control by using Programmable Logic Controller (PLC) for studying the behaviour of floating and balancing system. Floating Air Levitation system (FAL) and rotary inverted pendulum system (RIPs) module were designed and developed as the actual plant to investigate the performance of designed controller with the nonlinear systems. The objective of controller for FALs is to keep the height of a ball in the tube as the set point precisely, by adjusting the velocity of air flowing passing through the ball. For RIP, the objective is to stabilize the pendulum in upright position. Both plants can provide either the displacement or angular position by various type of sensors: ultrasonic and encoder. In this work, Proportional, Integral and Derivative (PID) and sliding mode controller (SMC) were implemented in OMRON NX1P PLC by using SYSMAC studio software for monitoring and control. The experimental results showed the comparison of PID and SMC performance. SMC presented a robustness response and low oscillating error depend on controller.