ASSIGNMENT # 1 AMBER YOUNAS CONTROL SYSTEMS LAB E07-009 A

INVERTED PENDULUMDefinition:

Providing a reasonable, efficient explanation for the inverted pendulum is very important to any effort to explain how standing and walking animals can keep their balance so very well.An inverted pendulum is a pendulum which has its mass above its pivot point and is inherently unstable.

APPLICATION IN CONTROL SYSTEMS:

 Inverted pendulums are important objects of theoretical investigation and experiment in the area of control theory and engineering, and are amongst the most difficult systems.

The analysis, design and implementation of inverted pendulum is a collection of matlab functions, scripts, and simulink models, useful for analyzing an inverted pendulum system and designing control system for it.

Due to its importance in the field of control engineering, it has been a task of choice to be assigned to Control Engineering students to analyze its model and propose a linear compensator according to the PID control law.

It is difficult to control the inverted pendulum because it is not a linear system. Unfortunately, there are only linear controllers, which cannot control non-linear systems. But as the inverted pendulum behaves nearly linear, while it is balanced, it is possible to linearise.

A new kind of inverted pendulum, elastic inverted pendulum was proposed. Mathematical model was derived from Hamiltonian principle and variational methods, which were formulated by the coupling of partial differential equations (PDE) and ODE.

The implementation of inverted pendulum presents also in simulating a crane at a construction site.