Control Of A Real Cart-Ball System: Comparison Between Model Based And Fuzzy Logic Controller

Mohd Shakir , Md Saad and Amat Amir, Basari and Sharatul Izah , Samsudin (2009) Control Of A Real Cart-Ball System: Comparison Between Model Based And Fuzzy Logic Controller. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This report presents the design and implementation of a complete control system for stabilizing control of an inverted pendulum system. The inverted pendulum is a classical control system problem because of its nonlinear characteristics, non-minimum phase, multiple inputs and multiple output (MIMO) and unstable behaviors. Control of inverted pendulum is a Control Engineering project based on the flight simulation of rocket or missile during the initial stages of flights. The inverted pendulum (which is simulating the rocket, here) is mounted on a moving cart. A DC motor is controlling the translation motion of the cart, through a belt/pulley mechanism. The aim of this project is to stabilize the Inverted Pendulum such that the position of the carriage on the track is controlled quickly and accurately so that the pendulum is always at its upright during such movements. The dynamic model of the whole system consists of two separate sub-models, namely the non-linear model and a linear model of the inverted pendulum. The control method is based on the PID , Linear Quadratic Regulator (LQR) and State-Feedback Pole Placement design techniques using the linearized model of the inverted pendulum. The Real Time Windows Target (RTWT) application is used as a host target that enables to connect Simulink models and execute in real time meanwhile the Data Acquisition Card (DAQ card) is used to generate data from computer to the real hardware. Comparison between those mentioned controllers will be performed as to know which controller is best suited to control the Inverted Pendulum System.

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