Controller Design for Compound Pendulum with PID and MRAC Switch Control

Compound pendulum swings with the reference trajectory accurately so that we could get the motion states of it easily. To ensure the compound pendulum tracking performance, we propose a switch controller of PID and model reference adaptive controller (PID+ MRAC). According to its equations of motion, we can establish a suitable model and obtain correspond adaptive reference rules. We determine a suitable threshold, then compare the error and threshold to choose PID control or MRAC control. The same output results could be obtained from reference model and plant model by adjusting the gain. Similarly, we compare the preference of PID controller, MRAC and PID+MRAC switch controller to evaluate which one is better. The results show that the switch control is the best one and the MRAC control is better than the PID control. (paper)