Identification and real time control of an inverted pendulum using PI-PD controller

Inverted pendulum is one of the fundamental benchmarks in application areas of control engineering and robotics. It is a good example of single input multi output (SIMO) systems. In this paper, identification of a cart inverted pendulum system is carried out and real time control of the system is accomplished by using the PI-PD controller. PI-PD controller is a good approach to control integrating processes or unstable processes like inverted pendulum. In the study, PI-PD controllers are used to control both angular position of the pendulum and the cart position. Real time implementation results are given to illustrate the use of the PI-PD controller. Results are compared with PID controller and it is demonstrated that the PI-PD controller is much superior to a PID controller.