Inverted Pendulum

A collection of MATLAB files, useful for analyzing inverted pendulum & designing controller for it.

The Inverted Pendulum; Analysis, Design & Implementation is a collection of MATLAB functions & scripts, and SIMULINK models, useful for analyzing Inverted Pendulum System and designing Control System for it.

The Inverted Pendulum is one of the most important classical problems of Control Engineering. Broom Balancing (Inverted Pendulum on a cart) is a well known example of nonlinear, unstable control problem. This problem becomes further complicated when a flexible broom, in place of a rigid broom, is employed. Degree of complexity and difficulty in its control increases with its flexibility. This problem has been a research interest of control engineers. In this submission, however, we have analyzed Inverted Pendulum only with rigid broom.

The aim of this study is to stabilize the Inverted Pendulum such that the position of the carriage on the track is controlled quickly and accurately so that the pendulum is always erected in its inverted position during such movements.

The inverted pendulum (IP) is among the most difficult systems to control in the field of control engineering. Due to its importance in the field of control engineering, it has been a task of choice to be assigned to Control Engineering students to analyze its model and propose a linear compensator according to the PID control law.

The work included in this submission has been carried out in the
Instrumentation and Control Lab at the Institute of Industrial Electronics Engineering, Karachi, Pakistan.

The author would like to thank Dr. Ken Dutton [School of Engineering, Sheffield Hallam University, UK; Author: "Art of Control Engineering"] for his review of this submission.