Comparative analysis of inverted pendulum control

Abstract

The main motive of this paper is to balance the inverted pendulum system (non-linear model) using controllers and to compare the results obtained from using different controllers. The aim is to determine which controller provides best results with respect to cart’s position and pendulum’s angle. The controllers used in this paper are PI, PD, PID. The inverted pendulum model is modeled using Simscape and the simulation results are obtained using MATLAB