PID Of An Inverted Pendulum

Chee, Eric Sai Hoo (2009) PID Of An Inverted Pendulum. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Inverted pendulum has been a popular platform for control engineers to research and test their controller. Controller for an inverted pendulum is widely ranged; from Proportional-Integral-Derivative (PID) to Fuzzy Logic, to Fuzzy PID and etceteras. This project will implement a PID controller to an inverted pendulum. Controller implementation can be done in both hardware and software. A software controller is selected in this project and is written with Microsoft Visual C#. Communication between software (computer) and inverted pendulum hardware (motor and rotary encoder) linked with serial cables and a decoder/driver. Microprocessor (PIC) from MICROCIllP is used to build the decoder/driver and its function limited to passing data. For software controller, it is equipped with a graph plotting tool to monitor the position of the inverted pendulum'S pole. A simulation is done using Matlab to simulate responses of the balancing system. Outcomes from few experiments, the observations clearly show that the inverted pendulum is able to be controlled and balanced. Results from conventional PID and cascade PID are analyzed and suggestions are given so that in future, better results could be obtained.

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