How to control the cart position in inverted pendulum using PID controller?

Question

Ullas Esturi 2015-2-25

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/180281-how-to-control-the-cart-position-in-inverted-pendulum-using-pid-controller

回答： Arkadiy Turevskiy 2015-2-25

http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=ControlPID

I am following the above instructions as you can see at the bottom it is mentioned the cart moves negative direction with approximately constant velocity. I would like to move the cart in both directions to balance the pendulum. Please advise.

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Answer 1

Arkadiy Turevskiy 2015-2-25

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https://ww2.mathworks.cn/matlabcentral/answers/180281-how-to-control-the-cart-position-in-inverted-pendulum-using-pid-controller#answer_169269

To control both the position and the angle, you would need to set up a little bit more involved controller architecture. Take a look at this example that shows one way of doing that and tuning the controller.