Comprehensive Survey of PID Controller Design for the Inverted Pendulum

Comprehensive Survey of PID Controller Design for the Inverted Pendulum

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The survey shows the detailed PID controller design how to stabilize the inclination angle as well as the horizontal movement of an inverted pendulum on a cart system step Cleaner by step.Pendulum model is based on Euler-Lagrange modeling, and the nonlinear state space model is linearized in the unstable upward position.Controller design is performed by applying the transfer function description.

The pendulum has been inserted into a virtual reality laboratory, which is suitable to Bedroom Set use in model based control teaching.