Stabilization of Rotary Inverted Pendulum using PID Controller

Abstract

The rotary inverted pendulum is a nonlinear and intrinsically unstable system that is broadly used for experimental studies and analysis. This paper focuses on the development of a nonlinear model for the rotary inverted pendulum, which encompasses the complex dynamics of the system unlike the linear model. The nonlinear behavior of the system is analyzed and validated for varying inputs. Further, the system is stabilized using a PID controller in the upright position. The controller is validated when the system is subjected to output disturbance.