Keywords :
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Inverted pendulum, dynamic modelling, pid
controller, state space model , MATLAB/SIMULINK
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Abstract :
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Inverted pendulum is a standard problem in
control system. This is a single input multiple output system
having pendulum’s angle and cart position as control
parameters. In this user is able to dictate the position and
velocity of the cart through the motor. It is a non-linear system,
which can be treated as linear system, without much error and
provides a good practice for prospective control engineers. This
project presents the modelling of an inverted pendulum using
differential equations for one degree of freedom. Its open loop
performance on the basis of time response is observed which
depicts that inverted pendulum is unstable as pendulum’s angle
diverges very rapidly. For stabilizing it , closed loop system is
used. The purpose for this experiment was to test different
algorithms used to control mechanical systems. By combining
computer and electrical system with mechanical ones,
mechanical systems can be controlled and provide responses that
improve their ability to perform certain functions. The objective
of the control system is to balance the inverted pendulum by
applying force to the cart that the pendulum is attached to. This
project proposes a procedure to control one of the parameter
underneath the other. Using PID controller, the transient
response and stability of the inverted pendulum is improved. The
whole work presented in this report is simulated by using
equations of motion using SIMULINK in MATLAB.
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