Modeling and comparative study of linear and nonlinear controllers for rotary inverted pendulum

Byron Lima, Ricardo Cajo, Víctor Huilcapi, Wilton Agila

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations


The rotary inverted pendulum (RIP) is a problem difficult to control, several studies have been conducted where different control techniques have been applied. Literature reports that, although problem is nonlinear, classical PID controllers presents appropriate performances when applied to the system. In this paper, a comparative study of the performances of linear and nonlinear PID structures is carried out. The control algorithms are evaluated in the RIP system, using indices of performance and power consumption, which allow the categorization of control strategies according to their performance. This article also presents the modeling system, which has been estimated some of the parameters involved in the RIP system, using computer-aided design tools (CAD) and experimental methods or techniques proposed by several authors attended. The results indicate a better performance of the nonlinear controller with an increase in the robustness and faster response than the linear controller.

Original languageEnglish
Article number012047
JournalJournal of Physics: Conference Series
Issue number1
StatePublished - 19 Jan 2017
Event13th European Workshop on Advanced Control and Diagnosis, ACD 2016 - Lille, France
Duration: 17 Nov 201618 Nov 2016

Bibliographical note

Publisher Copyright:
© Published under licence by IOP Publishing Ltd.


Dive into the research topics of 'Modeling and comparative study of linear and nonlinear controllers for rotary inverted pendulum'. Together they form a unique fingerprint.

Cite this