Control Of An Inverted Pendulum Comparison Between PID Controller And SFC

Abd Hadi , Abd Malik (2007) Control Of An Inverted Pendulum Comparison Between PID Controller And SFC. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is about control of an Inverted Pendulum system usmg a PID controller and State Feedback controller. Where both controllers will be compared to determine the performances influence through the graph result in order to distinguish and which one is better performance as controller. PID gives a feedback respond to the inverted pendulum if the inverted pendulum is slaying or unstable. The tuning of the determining the value of KP and KD is using Ziegler Nichols method. This project deals with the Non-Linear system of an inverted pendulum system which are include in controlling the pendulum angle and cart position. The other stage is to design the SFC Controller to be applied to the system than carry out the simulation work of both controllers for comparison purpose. The task is a literature study, non-linear mathematical modeling, controller design and simulation study. This project will discuss about an open loop and closed loop system that capable of rejecting the external disturbances that will affect the stability. The simulation is using Matlab-Simulink software.

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