Application of double-loop PID controller in the inversed pendulum real-time control system

Abstract

The proposed double-loop PID control scheme may solve the problems of the unstable inverted pendulum system with single-input and double-outputs and strong nonlinear coupling. The feasibility of double-loop PID control's multiple combinations scheme is studied by simulating with MATLAB. The simulation results showed that double-loop PD-PD control scheme was the best options when comparing all kinds of double-loop PID control methods. The real-time control experiment of the actual single inverted pendulum device confirmed that the proposed control scheme could realize the double closed-loop control of the car position and the swing link angle. © 2012 Springer Science+Business Media B.V.