Control Of 2 Dimensional Inverted Pendulum Using MATLAB

Farhana, Abd Razak (2008) Control Of 2 Dimensional Inverted Pendulum Using MATLAB. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The problem of balancing an inverted pendulum has been a benchmark problem in demonstrating various control design techniques. The principal reasons for its popularity are its nonlinear and unstable characteristics. This project presents the design and simulation of two dimensional inverted pendulum system. The design of the system is done in MATLAB environment. The selection of the controller is the core of this study. PID controller has been chosen as the generic control loop feedback to control the system. In the simulation of inverted pendulum, PID controller is used to control both the position of the cart and the pendulum and also the pendulum angle to ensure the pendulum stands in upright position when the simulation is running. The design of the system is implemented using Simulink block diagram. From the working simulation of inverted pendulum, analysis for the factors contributing in stability of the system is carried out. The analysis covers the parameters of the system, PID controller simulation, set point method and stability of the system. Full working simulation was not able to carry out due to motion equation error but analysis is done using existing data from Simulink environment. The best combination of PID controller and the lowest settling time give the best result for inverted pendulum stability.

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