Stabilization of Cart Pole System (P-0177) (MFN 2983)

Abstract

To stabilize an inverted pendulum is quite a challenge in control theory and engineering. Many researchers and scientists adopted different techniques for solving this problem. This part of control theory is an area of active research as its application in rockets or missile control systems. Dealing with this problem has become a benchmark for various control techniques. An inverted pendulum is a simple pendulum held at upright position. A simple pendulum has two equilibrium points: when centre of gravity (CG) of pendulum is right below the pivot point (stable equilibrium) and when CG of pendulum is right above the pivot point (unstable equilibrium). Balancing a simple pendulum at unstable equilibrium point describes the inverted pendulum stabilization problem. Expected complexities while solving this problem include different variations, like commanding the motion of the cart while keeping the pendulum erected (stable). Among the major practical implementation of inverted pendulum is rocket or missile guidance, which is based on thrust actuation at the bottom of the vehicle. Implementation of PID controller is one of the most basic techniques which can be implemented on this experimental setup for the stabilization of inverted pendulum. It uses the angular position feedback signal acquired from the digital encoder connected at the shaft of the pivot. The PID (Proportional, Integral, and Derivative) controller is adjusted to correct the error signal with respect to the desired position.