Control Of Inverted Pendulum System

Nurulnaim , Mohd Aluwi (2010) Control Of Inverted Pendulum System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

An inverted pendulum is a device which has its mass freely oscillating above its pivot point. The implementation often involves a horizontal moving cart with the pivot point mounted on it. This innovation may also be called a cart and pole. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright. This is done either by applying a torque at the pivot point or by moving the pivot point horizontally as part of a feedback system. Due to its structure simplicities, inverted pendulum is also frequently used as a standard to validate the performance and effectiveness of control methods. Therefore, this project aims to control the stability of this mass and its pole by supplying control input to the cart with appropriate control strategy. A mathematical model of this mechanism is to be developed in order to have a deeper understanding on the characteristics. Among the controller that will be experimented with this pendulum are Fuzzy Logic Controller and Sliding Mode Controller. The efficiency of these controllers will be simulated using the MATLAB Software and afterwards differentiated.

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