Study and Design of PID Controller and State Observer Technique for Inverted Pendulum

Abstract

AbstractThe inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms, it is unstable without control. The process is nonlinear and unstable with one input signal and several output signals. It is hence obvious that feedback of the state of the pendulum is needed to stabilize the pendulum. The aim of the study is to stabilize the pendulum such that the position of the carriage on the track is controlled quickly and accurately. The problem involves an arm, able to move horizontally in angular motion, and a pendulum, hinged to the arm at the bottom of its length such that the pendulum can move in the same plane as the arm. The conventional PID controller can be used for virtually any process condition. This made elimination the offset of the proportional mode and still provides fast response. In this paper, we have modelled the system and studied PID controller and state observer controller.
Keywords: Control system, state observer technique, pole placement, conventional controller, inverted pendulum
Cite this ArticleKeerthi Chacko, Vimal Kumar, Abdul Ltheef, Sheeba V. Study and Design of PID Controller and State Observer Technique for Inverted Pendulum. Journal of Control & Instrumentation (JoCI). 2015; 6(2): 13–18p.