Design of Input-Output Feedback Linearization Control for Rotary Inverted Pendulum System

Authors

  • Minh Tai Vo Ho Chi Minh City University of Technology (BKU), Vietnam National University - Ho Chi Minh City, Vietnam
  • Vi Do Tran Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam
  • Van Phong Vu Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam
  • Duc Thien Tran Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam
  • Minh Tam Nguyen Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam
  • Van thuyen Ngo Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam
  • Thanh Phong Tran Tien Giang University (TGU), Vietnam
  • Van Dong Hai Nguyen Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam

Corressponding author's email:

minhtai.hcmute@gmail.com

DOI:

https://doi.org/10.54644/jte.69.2022.1120

Keywords:

Rotary inverted pendulum, Input-output feedback linearization controller, Genetic Algorithm, Balancing control, SIMO controller

Abstract

Rotary Inverted Pendulum (RIP) is a non-linear system that is considered a benchmark in control theory problem. It represents a broader class of under-actuated systems. Rotary inverted pendulum is a complex system, widely studied in many areas due to its complexity, nonlinearities and non-minimum-phase system. In this work, the authors implement the input-output feedback linearization techniques (IOFL) for the control of rotary inverted pendulum. With the scheme, the authors assess the stability of the system when applied the controller. The entire system has been modeled and tested by Matlab/Simulink toolbox, where the parameters of IOFL control is searched by genetic algorithm to make system stabilized at upright position. The program is built with Waijung library in Matlab/Simulink environment and the system was controlled through STM32F407VG Discovery microcontroller. Experiment results verify capable and competent characteristics of proposed optimal feedback linearization controller. The proposed method can be considered as a promising way for control of various similar nonlinear systems.

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Author Biographies

Minh Tai Vo, Ho Chi Minh City University of Technology (BKU), Vietnam National University - Ho Chi Minh City, Vietnam

Vo Minh Tai currently works at Intel Products Vietnam as automation engineer. He received the B.S. degree in automation and control engineering from Ho Chi Minh University of Technology and Education (HCMUTE), Vietnam in 2020. Since 2022, he has been a master student in major automation and control engineering at Ho Chi Minh City University of Technology (BKU), Vietnam. His research interests are fuzzy systems, observer and controller design for uncertain system, nonlinear control, adaptive control, and intelligent technique.

Vi Do Tran, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam

Vi-Do Tran received the Master degree in Electrical Engineering from the HCM University of Technology and Education, Vietnam, in 2015. He received the PhD in BioRobotics at the BioRobotics Institute, Scuola Superiore Sant’Anna in Pisa, Italy in 2018. His research interests are in the fields of rehabilitation robotics, assistive technologies and human-robot interaction. From December 2018 until now, he has worked as a lecturer at the HCM University of Technology and Education, Vietnam.

Van Phong Vu, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam

Vu Van Phong currently works at the Faculty of Electrical and Electronic, University of Technology and Education Ho Chi Minh. He received the B.S. degree in electrical engineering from Ha Noi University of Sciences and Technology, Vietnam in 2007; the M.S. degree in electrical engineering from Southern Taiwan University of Sciences and Technology in 2010, and the Ph.D. degree in electrical engineering from National Central University, Taiwan in 2017. Since 2012, he has been a lecturer at Ho Chi Minh City University of Education and Technology, Vietnam. He is a postdoc in electrical engineering at National Central University from Nov-2017 to July-2018. His research interests are fuzzy systems, intelligent control, observer and controller design for uncertain system.

Duc Thien Tran, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam

Tran Duc Thien received the B.S and M.S. degrees in Department of Electrical Engineering, Ho Chi Minh City University of Technology, Vietnam, in 2010, and 2013, respectively. He worked as a lecturer with the Department of Automatic Control, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam, from 2012 to 2014. He is currently a Ph.D. candidate in the School of Mechanical Engineering, University of Ulsan, Korea. His research interests include robotics, variable stiffness system, fluid power control, disturbance observer, nonlinear control, adaptive control, and intelligent technique.

Minh Tam Nguyen, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam

Nguyen Minh Tam was born in Ben Tre province, Vietnam. He received the Ph.D. degree in Engineering Science from the University of Technology, Sydney, Australia in 2010. His research interests include system modeling, intelligent and robust control, soft-computing, and power system control.

Van thuyen Ngo, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam

Ngo Van Thuyen currently works at University of Technology and Education Ho Chi Minh as Chairman of the board. He received the Ph.D. degree in automation and control engineering from University of Technology Sydney (UTS), Australia in 2008. He was recognized as an Associate Professor by the State Council for Professorship in 2018. His research interests are fuzzy systems, intelligent control, observer and controller design for uncertain system, automation in industrial, SCADA.

Thanh Phong Tran, Tien Giang University (TGU), Vietnam

Tran Thanh Phong currently works at the Scientific Research and Technology Management and International Cooperation Office, Tien Giang University. He received the B.S. degree in automation and control engineering from Ho Chi Minh University of Technology, Vietnam in 2009; the M.S. degree in optimization and formatting system from University of Technology Troyes in 2011, and the Ph.D. degree in automation and control engineering from University of Angers, France in 2017. Since 2011, he has been a lecturer at Tien Giang University, Vietnam. His research interests are fuzzy systems, intelligent control, observer and controller design for uncertain system.

Van Dong Hai Nguyen, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam

Nguyen Van Dong Hai currently works at the Faculty of Electrical and Electronic, University of Technology and Education Ho Chi Minh. He received the B.S. degree in automation and control engineering from Ho Chi Minh University of Technology, Vietnam in 2009; the M.S. degree in automation and control engineering from Ho Chi Minh University of Technology, Vietnam in 2011, and the Ph.D. degree in automation and control engineering from University of Craiova, Rumani in 2018. Since 2012, he has been a lecturer at Ho Chi Minh City University of Education and Technology, Vietnam. His research interests are fuzzy systems, intelligent control, observer and controller design for uncertain system.

References

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Vo Minh Tai, Nguyen Minh Tam, Le Thi Thanh Hoang, Tran Vi Do, Tran Duc Thien, Nguyen Tran Minh Nguyet, Ngo Van Thuyen, Nguyen Van Dong Hai, “Back-stepping control for rotary inverted pendulum”, Journal of Technical Education Science No.59, tr. 93-101, 2020. DOI: https://doi.org/10.1016/j.ijid.2020.11.111

Nguyễn Văn Đông Hải, Xây dựng bộ điều khiển nhúng tuyến tính hóa vào ra cho hệ xe con lắc ngược, Luận văn Thạc sỹ, 2011.

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Published

28-04-2022

How to Cite

[1]
M. T. Vo, “Design of Input-Output Feedback Linearization Control for Rotary Inverted Pendulum System”, JTE, vol. 17, no. 2, pp. 26–35, Apr. 2022.

Issue

Vol. 17 No. 2 (2022)

Section

Research Article

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