DEVELOPMENT OF A MODIFIED SIMPLE EVENT FUNCTION FOR EVENT- BASED CONTROL OF INVERTED PENDULUM ON A CART

Abstract

This paper presents the development of a modified simple event function
(mSEF) for event-based control of inverted pendulum (IP) on a cart. The simple
event function (SEF) control is an event-based control which updates control law at
the occurrence of an event. This control scheme is aimed at minimizing system
resource utilization and computational time. However, there is the issue of
performance degradation associated with this control scheme. Hence the SEF was
modified by introducing the time derivative of the last event state into the event
function, which established a better trade-off between computational time and
control system performance. The result obtained from simulation shows that the
control system met all the design specifications. A rise time of 0.721 seconds was
recorded as against the specified 0.9 seconds. The pendulum angle also did not
exceed the specified 0.35 radians from the vertical. The system settled at 3.742
seconds which is less than the specified 5.0 seconds. No performance degradation
was noticed beyond the settling time. The modified simple event function control
was able to hold the inverted pendulum at its vertical position after settling. All
simulations were carried out using MATLAB/Simulink 2015a.