Publication

Abstract : Inverted pendulum is an inherently unstable system which is extensively used for experimental analysis and studies. It is a nonlinear system with its centre of gravity above the pivot point; owing to this, the system is difficult to control; and controller design for balancing the pendulum is quite challenging. The work deals with modelling and designing of various controllers for QUANSER QUBE Servo 2 Rotary Pendulum system developed by National Instruments and comparison of their performances in balancing it in the upright position. The designed controllers include the conventional PID controller, linear quadratic regulator (LQR), full-state feedback controller and cascade PID controller. From the simulation results, it is found that the cascaded PID and LQR controllers provide better response of the system by balancing the pendulum with least settling time.