Linear and non-linear control for an Inverted Pendulum Applied to model “ECP 505”

Abstract

The inverted pendulum represents a challenging problem in control and it has been widely used to investigate and develop new control strategies that can effectively deal with nonlinearities. The “Inverted Pendulum ECP model 505” which exist in the control lab at Palestine Polytechnic University (PPU), consists of a horizontal sliding rod and vertical ("pendulum") rod. The horizontal rod is connected to electrical motor through rack and pinion mechanism so it steers left or right to balance and control the position of the vertical rod. The controllers designed and simulated using MATLAB and Simulink. The aim of this project is to stabilize the Inverted Pendulum at its inverted position or to track any other position within the physical limits of the device, such that the position is controlled quickly and accurately so that the pendulum is always be at that position during such movements. However, Simulation of dynamics of a robotic arm and model of human standing still are some applications of an inverted pendulum.