Cart Inverted Pendulum Case Study

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CHAPTER ONE 1.0 INTRODUCTION 1.1 Project Overview Cart-Inverted pendulum has been classified as a tool for learning the control of nonlinear systems [1]. Its behavior resembles that of a real world systems such as the control of the Segway vehicle, unicycles, rockets, skyscrapers and many more [2]. This control problem has been of interest to many researchers [3], [4], [5], because it is highly nonlinear, unstable and has two degrees of freedom with one control input. Further the control problem is made more complex by including physical constraints such as limited track length of the cart [6]. The non-linearity aspect of this system has been extensively used by researchers in verifying some of the control theories and in demonstrating ideas in regards to the control of…show more content…
 To compare the simulation performance of the PID controllers, LQR, Fuzzy controllers on the cart-inverted pendulum.  To apply the developed controllers on a real cart-inverted pendulum  To use the developed controllers in a real time application 1.4 Methodology This is the step by step approach taken in order to realize the objective of this project. The approach is as follows. • Background reading of existing work related to the control of nonlinear systems- It entails looking at what other people have done in regards to the control of nonlinear systems and analyzing their findings. This will help me to narrow to some few controllers with better results that be used in a real time application. • Simulation – Simulate the nonlinear system and the controller. This is useful in checking if my designed controller can work in a real time application. • Gathering of resources - This section entails identification of components needed and determination of their equivalents or alternatives. • Pre-implementation – This entails testing of the various functional parts before assembling them

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