Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum

Table 1

Parameters of the PIP system.

Parameter	Definition	Value
𝑚pp	Mass of pendulum	0.027 kg
𝑚pg	Mass of planetary gear	0.035 kg
𝑚sp	Mass of star gear	0.038 kg
𝑚pl	Mass of counterweight	0.02 kg
𝑚gs	Mass of gear base	0.95 kg
𝑙pp	Length of pendulum	0.11 m
𝑙pl	Length of payload	0.02 m
𝑙gs	Length of gear base	0.05 m
𝐽pp	Rotational inertia of pendulum	1.54 × 10^−3 kg m^2
𝐽pg	Rotational inertia of planetary gear	0.958 × 10^−6 kg m^2
𝐽sg	Rotational inertia of star gear	3.211 × 10^−6 kg m^2
𝑟pg	Radius of planetary gear	0.013 m
𝑟sg	Radius of star gear	0.013 m
𝐺	Acceleration of gravity	9.8 m/s^2
𝑘𝑡	Torque constant	0.242 Nm/A
𝑘𝑏	Back-EMF constant	0.242 Nm/A
𝑅𝑎	Armature resistance	2.21 Ω