What question did this study set out to answer?

The aim is to develop a nonlinear dynamic model for an inverted pendulum and analyze its stability with PID control.

Modeling and Balancing Control of Inverted Pendulum

View Full Paper

Ask AI

Bookmark

Authors

This analysis demonstrates stability in inverted pendulum control, suggesting effective methods for various applications.

The aim is to develop a nonlinear dynamic model for an inverted pendulum and analyze its stability with PID control.
Developing the nonlinear dynamic model using Newtonian mechanics and Lagrangian formulation.
Performing stability analysis using Routh-Hurwitz’s criterion and state-space representations.
Conducting simulations in MATLAB/Simulink for various control modes (P, PI, PD, PID).
PI and PID control modes stabilize the inverted pendulum, while P and PD do not.
Simulations confirmed the theoretical findings that only PI and PID modes effectively manage disturbances.
Tracking and regulation were successfully achieved under the PI and PID control configurations.

Abdelaal et al. (2026) studied this question.

View Full Paper

Ask AI

Bookmark