Model Identification and Controller Design for Inverted Pendulum

日期 : May 2016 - Dec 2016

The aim of this project is to design a Control system for Inverted pendulum. The designed mechanism has a monitoring and calibrating VI (Virtual Instrument) which is constructed in LabVIEW. This VI send a sinusoidal signal to the Inverted pendulum and obtain the Bode plot of the system from that response system’s model is identified. This model helped us in control designing part because model of every system represents its characteristic. Then fault in a sensor’s reading monitored continuously if any fault occurs then designed system is intelligent enough that it can correct the fault. The final part is classical control design which includes PID (Proportional Integral Derivative) control design and LQR (Linear Quadratic Regulator) control design. Identified model is analysed critically so that all characteristics of system are disclosed. Inverted pendulum has vast applications in the field of control system. Every system which is inherently unstable can be controlled like Inverted pendulum is controlled.