PID control of two-stage inverted pendulum

A Proportional-integral-derivative (PID) control of highly nonlinear and multivariable two stage pendulum is presented. The aim is to settle cart at desired position within 4 seconds while both the pendulums are inclined vertically upwards. Three PID controllers were separately designed for control of each subsystem. Tuning of controller gains were achieved using trial and error approach. A mathematical model of the system was derived which was utilised to construct a simulink. Simulations were performed which elaborated feasibility of proposed approach.