Design and control of real-time inverted pendulum system with force-voltage parameter correlation

The inverted pendulum is a non-linear system which requires a robust controller for its stabilization. The mathematical modelling of the system is done using Lagrangian mechanics, and the state-space feedback method is employed to derive the Proportional, Integral and Derivative (PID) values needed to control the system. In this paper, we propose a novel experiment to map the voltage supplied, to the dynamics of the system. The performance of the system in real-time for the proposed method as well as for the conventional method (which involves assuming V = F, where F is the force acting on the cart, V is the voltage across the motor) is measured in terms of settling time of the system, maximum pendulum angle offset after settling, and cart position displacement. The proposed method proves to improve the performance of the system significantly. Also, we have discussed solutions for some real-time issues with low-cost electronic components that help reduce the cost of implementation of the entire system.