Apply Adaptive PID with Sliding Mode Control for the Rotary Inverted Pendulum System

• Main Authors: Yan-Ru Wu, 吳彥儒
• Other Authors: Tzu-Chun Kuo
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/92018516709792413673

碩士 === 清雲科技大學 === 電機工程研究所 === 96 === In this thesis, the adaptive PID with sliding mode controller is proposed. The goal is to achieve system robustness against parameter variations and external disturbances. In this study, the three parameters of PID controller, proportional gain, integral gain, and derivative gain can be systematically obtained according to the adaptive law. To reduce the high frequency chattering in the controller, the boundary layer technique is used. The proposed method controller is applied to the DC motor control system and rotary inverted pendulum. The Lyapunov theorem is used to prove the stability and convergence of the proposed scheme. The computer simulation results show that the chattering and the steady state error are eliminated and satisfactory trajectory tracking is achieved.