Tracking Control and Backlash Compensation in an Inverted Pendulum with Switched-Mode PID Controllers

Abstract

In electromechanical systems, backlash in gear trains can lead to a degradation in control performance. We propose a drive–anti-drive mechanism to address this issue. It consists of two DC motors that operate in opposite directions. One motor acts as the drive, while the other serves as the anti-drive to compensate for the backlash. This work focuses on switching between the drive and anti-drive motors, controlled by a switched-mode PID controller. Simulation results on an inverted pendulum demonstrate that the proposed scheme effectively compensates for backlash, improving position accuracy and control. This switched controller approach enhances the performance of electromechanical systems, particularly where gear backlash poses challenges to closed-loop performance.

Keywords

• DC motors
• gear trains
• backlash
• drive–anti-drive mechanism
• root mean square error (RMSE)