Control Of An Inverted Pendulum : Comparison Between Bode Plot Techniques And Root Locus Technique When applied To Lead / Lag Compensator

Khairul Ashriq, Ashruddin (2008) Control Of An Inverted Pendulum : Comparison Between Bode Plot Techniques And Root Locus Technique When applied To Lead / Lag Compensator. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is about control of an Inverted Pendulum system where a Bode Plot technique and Root Locus technique will be compared to see which one is better in terms of performance when applied to a controller. In this case, a lead/lag controller is chosen to perform the application. Bode plot is a plots of frequency response where the gain and phase are displayed in separate plots. The root locus is a way of presenting graphical information about a system's behaviour when the controller is working and is a widely used tool for design of closed loop systems. Lead compensator is a device that provides phase lead in it's' frequency response while lag compensator is a device that provides phase lag in it's' frequency response. This project deals with the Non-Linear system of an inverted pendulum system and it will control both the pendulum's angle and the cart's position. The task is a literature study, non-linear mathematical modelling, controller design and simulation study. The simulation is using MA TLAB software.

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