Performance Comparison and Validation of Controllers for an Inverted Pendulum System

Abstract

Inverted pendulum mounted on a cart is an inherently unstable system which requires control effort to stabilize it at its upright position. In this single input multi output system the pendulum is balanced by controlling the horizontal motion of the cart. Various controller design techniques have been developed to control such systems like PID controllers, LQR controllers, Neural networks etc. The performance of the system for controlling methods of PD (Proportional Derivative) controller and LQR (Linear Quadratic Regulator) controller are compared by simulating in MATLAB SIMULINK and the results are validated through results obtained from a real inverted pendulum system.