TY - JOUR
T1 - Current development on using Rotary Inverted Pendulum as a benchmark for testing linear and nonlinear control algorithms
AU - Hamza, Mukhtar Fatihu
AU - Yap, Hwa Jen
AU - Choudhury, Imtiaz Ahmed
AU - Isa, Abdulbasid Ismail
AU - Zimit, Aminu Yahaya
AU - Kumbasar, Tufan
N1 - Publisher Copyright:
© 2018 Elsevier Ltd
PY - 2019/2/1
Y1 - 2019/2/1
N2 - Rotary Inverted Pendulum (RIP) is an under-actuated mechanical system which is inherently nonlinear and unstable. For decades, it has been widely used as an experimental setup to explain and test different kinds of control algorithms. The main control objectives of RIP are: Swing-up control, stabilization control, switching control and trajectory tracking control. All these control objectives are described in this study. State-of-the art works proposed for each control objective have also been reviewed. These comprise the linear, nonlinear time invariant, self-learning and adaptive nonlinear controllers. Moreover, different kinds of nonlinear dynamic models of the RIP together with the developed linear models in the literature have been analyzed. This is because most of the proposed controllers applied on RIP are found to be model dependent since they are mainly based on integral and/or invariant motion. Other types of RIP are also reported along with their advantages. Future research opportunities and challenges of the previous approaches in this area of research are presented. We believe that expert researchers can use this paper as starting point for further advancement while graduate scholars can use it as an initial point.
AB - Rotary Inverted Pendulum (RIP) is an under-actuated mechanical system which is inherently nonlinear and unstable. For decades, it has been widely used as an experimental setup to explain and test different kinds of control algorithms. The main control objectives of RIP are: Swing-up control, stabilization control, switching control and trajectory tracking control. All these control objectives are described in this study. State-of-the art works proposed for each control objective have also been reviewed. These comprise the linear, nonlinear time invariant, self-learning and adaptive nonlinear controllers. Moreover, different kinds of nonlinear dynamic models of the RIP together with the developed linear models in the literature have been analyzed. This is because most of the proposed controllers applied on RIP are found to be model dependent since they are mainly based on integral and/or invariant motion. Other types of RIP are also reported along with their advantages. Future research opportunities and challenges of the previous approaches in this area of research are presented. We believe that expert researchers can use this paper as starting point for further advancement while graduate scholars can use it as an initial point.
KW - Mathematical modelling
KW - Rotary Inverted Pendulum
KW - Stabilization control
KW - Swing up control
KW - Trajectory tracking control
UR - http://www.scopus.com/inward/record.url?scp=85049333786&partnerID=8YFLogxK
U2 - 10.1016/j.ymssp.2018.06.054
DO - 10.1016/j.ymssp.2018.06.054
M3 - Review article
AN - SCOPUS:85049333786
SN - 0888-3270
VL - 116
SP - 347
EP - 369
JO - Mechanical Systems and Signal Processing
JF - Mechanical Systems and Signal Processing
ER -