How do I create a controller to stabilize an inverted pendulum in Simulink?

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Jiaxiao Yan 2017-1-25

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评论： Manasseh Shitta 2023-6-27

I currently have a inverted pendulum designed in Simscape multibody and it moves by shifting the base from side to side using a prismatic joint (and an input signal to determine the position of the pendulums base). I now want to keep the pendulum upright as the base shifts,using some sort of control system, and I'm not sure how to do this.

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Answer 1

Nikhil 2023-6-13

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You can refer to this article Control of an Inverted Pendulum on a Cart which discusses how to design a PD controller for an inverted pendulum model in Simscape. The x (displacement) and theta (angle) data are imported into Simulink where the controller is designed.

Additionally, you can refer to this article for optimising the control loop parameters: Inverted Pendulum Controller Tuning