Control Of A Real Inverted Pendulum Using PID Controller

Awang Muhammad Mursyidin, Ahat (2009) Control Of A Real Inverted Pendulum Using PID Controller. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is about an Inverted Pendulum that been control by the by PID controller. The inverted pendulum is a classical control system problem because of its nonlinear characteristics and unstable behavior. 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. The PID controller used the trial and error in order to get the value of gain in the PID controller. For the inverted pendulum system, it is typical nonlinear system that is inherently unstable under the open-loop state. For the inverted pendulum system, it is a typical nonlinear system that is inherently unstable under the open-loop state. This system can be a linear system using linearization near the equilibrium (inverted) point. The complexity of the system can be increased by adding extra links and it is simple to implement an actual system. This controller will control both angle and position of the inverted pendulum. The performance test results is then presented and compared with closely matching simulation results which will verify the successful design and implementation of the control loop in the real system. 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.

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