PID CONTROL IMPLEMENTATION OF AN INVERTED PENDULUM SYSTEM

Abstract

Inverted pendulum which consists of a straight pole and a horizontally moving cart has been one of the most widely researched systems and is considered a classical problem in the area of control engineering. Main objective of the system is to control and stabilize both the angle of the pendulum and position of the cart. In this study, an example of such type of system was designed, implemented and controlled. Stabilization and control objective of the system was successfully achieved by using a Proportional-integral-derivative (PID) controller and graphs of input and outputs of the system was obtained in MATLAB environment.