RESEARCH ON STABLE BALANCE CONTROL OF AN ROTERY INVERTED PENDULUM USING PID CONTROL ALGORITHM

Abstract

System Rotating inverted pendulums play an important role in control engineering, that are used in teaching and research at universities and research centers around the world. The rotary inverted pendulum system is a SIMO (Single Input Multi Output) system with structural complexity, high nonlinearity, and the mentioned mathematical equation of the inverted pendulum is typically nonlinear. Therefore, it is an ideal research model for automated control laboratories. The main contribution of this paper is the low cost design and manufacture of an inverted pendulum model and control of the rotating inverted pendulum system by using a proportional integral controller (PID) to stabilize the pendulum. fixed at vertical position - the equilibrium point is not stable because this is a controller with simplicity and ability to respond to external interference. The simulation and controller design will be done on MATLAB/Simulink software.