Modeling and Controller Design for an Inverted Pendulum System

Abstract

The Inverted Pendulum System is an under actuated, unstable and nonlinear system. Therefore, control system design of such a system is a challenging task. To design a control system, this thesis first obtains the nonlinear modeling of this system. Then, a linearized model is obtained from the nonlinear model about vertical (unstable) equilibrium point. Next, for this linearized system, an LQR controller is designed. Finally, a PID controller is designed via pole placement method where the closed loop poles to be placed at desired locations are obtained through the above LQR technique. The PID controller has been implemented on the experimental set up.