Coefficient Diagram Method Based Balancing Control of PenduBot

Abstract

In this paper, a controller design for PenduBot is presented to demonstrate the use of Coefficient Diagram Method (CDM) in designing controls for a nonlinear, unstable, and single-input multi-output (SIMO) system. PenduBot is the abbreviation of Pendulum Robot which has two axis link system. The first arm is driven by a DC motor and the second one is controlled by the first link without an actuator. The purpose of this paper is to identify the PenduBot system from swing-up motions and design control parameters which place unstable poles to stable ones using CDM to balance the links. Because of nonlinear and SIMO system characteristics, it is difficult to design a controller which produces a satisfactory performance. The CDM method solves this problem and shows significant robustness, stability, and response characteristics.

In this paper, a controller design for PenduBot is presented to demonstrate the use of Coefficient Diagram Method (CDM) in designing controls for a nonlinear, unstable, and single-input multi-output (SIMO) system. PenduBot is the abbreviation of Pendulum Robot which has two axis link system. The first arm is driven by a DC motor and the second one is controlled by the first link without an actuator. The purpose of this paper is to identify the PenduBot system from swing-up motions and design control parameters which place unstable poles to stable ones using CDM to balance the links. Because of nonlinear and SIMO system characteristics, it is difficult to design a controller which produces a satisfactory performance. The CDM method solves this problem and shows significant robustness, stability, and response characteristics.