An experimental study for stabilization of inverted pendulum

Abstract

Stabilization of Inverted Pendulum is defined as a very basic classical control problem in Control System. The Dynamics of Cart Inverted Pendulum is related to many real life applications like missile launching system, balancing systems like human walking, Aircraft landing pad in sea etc. This is a highly Unstable and non-linear system. This system is a under actuated system and also a non-minimum phase system so design a Controller for Inverted Pendulum System is very complex. This thesis includes system and hardware description of Inverted Pendulum System, Dynamics of the system, State space model, Derivation of Transfer Functions. In Past a lot of research work has already been done in Inverted Pendulum for development of Control Strategy. Here in this thesis we have done a very small work to design Control Strategy and also validate them with real-time experiments. In this thesis two-loop PID, PID+PI & LQR control have been implemented for Inverted Pendulum System and this control strategies gives satisfactory response