A New Approach to Control a Driven Pendulum with PID Method

Abstract

This paper proposed a PID method to control a driven pendulum. Driven pendulum is a suspended pendulum, which has a motorized propeller at the end of the stick. So it can be controlled with controlling the voltage given to DC motor. The characteristics of the transient response of this system such as overshoots and settling time are not acceptable. For example the settling time of this system is upwards of 10 seconds. The discussed method can improve the time domain performance of this system. The simulation results proven that this method enhanced stability as well as ease of tuning. The presented controller is designed and evaluated using MATLAB/Simulink.