Control Design and Implementation of an Inverted Pendulum on a Cart

Controlling of an Inverted Pendulum is a classical control problem and widely referred in the literature. The system is inherently an unstable nonlinear system. The aim of this project is to design a linear controller for stabilizing the inverted pendulum at its unstable equilibrium point. This work includes detailed mathematical modeling and analysis of this physical system and proposes an efficient design for ensuring stabilizing control. The model with and without controller has been be analyzed theoretically and validated using simulations. A complete developed physical system is implemented using the proposed design to ensure stability of the system. PID based controller has been used in this work with all PID parameter being obtained via proper design process. The PID controllers is tested and implemented on the actual physical hardware as well. National Instruments' MyRIO is used to interface the hardware with LabView.