Control Of A Real Inverted Pendulum Using PID Controller
This project is about an Inverted Pendulum that been control by the by PID controller. The inverted pendulum is a classical control system problem because of its nonlinear characteristics and unstable behavior. Control of inverted pendulum is a Control Engineering project based on the flight simu...
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| Format: | Monograph |
| Published: |
UTeM
2009
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| Online Access: | http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=graphicFullDisplayRetriever.jsp&&szMaterialNo=0000054678 http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=graphicFullDisplayRetriever.jsp&&szMaterialNo=0000054678 http://eprints.utem.edu.my/2607/1/Awang_Muhammad_Mursyidin_Bin_Ahat_TJ223.P55.A48_2009-24_pages.pdf http://eprints.utem.edu.my/2607/2/Awang_Muhammad_Mursyidin_Bin_Ahat_TJ223.P55.A48_2009raf.pdf |
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| Summary: | This project is about an Inverted Pendulum that been control by the by PID
controller. The inverted pendulum is a classical control system problem because of
its nonlinear characteristics and unstable behavior. Control of inverted pendulum is a
Control Engineering project based on the flight simulation of rocket or missile during
the initial stages of flights. The inverted pendulum (which is simulating the rocket,
here) is mounted on a moving cart. The PID controller used the trial and error in
order to get the value of gain in the PID controller. For the inverted pendulum
system, it is typical nonlinear system that is inherently unstable under the open-loop
state. For the inverted pendulum system, it is a typical nonlinear system that is
inherently unstable under the open-loop state. This system can be a linear system
using linearization near the equilibrium (inverted) point. The complexity of the
system can be increased by adding extra links and it is simple to implement an actual
system. This controller will control both angle and position of the inverted
pendulum. The performance test results is then presented and compared with closely
matching simulation results which will verify the successful design and
implementation of the control loop in the real system. The Real Time Windows
Target (RTWT) application is used as a host target that enables to connect Simulink
models and execute in real time meanwhile the Data Acquisition Card (DAQ card) is
used to generate data from computer to the real hardware. |
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