Implementation of Swarm Based Gain Scheduling for 2D Inverted Pendulum Using PLC

The goal of this work is to propose a controller gain scheduling technique for balancing a 2D inverted pendulum system which is widely used to represent the nonlinear systems. In this work, the dynamic model of the inverted pendulum is derived using Newton-Euler method. Two controllers that employ Proportional-Integral-Derivative (PID) and Linear-Quadratic-Regulator (LQR) algorithms are applied to balance the proposed inverted pendulum system. The gains of both controllers are obtained from the swarm-based approach for each defined angle. PLC is used to schedule the proper controller gains for the corresponding angle of the pendulum. The results show that LQR technique outperform PID in terms of signal error and fluctuation.