Abstract
AbstractThe main motivation behind the present work was to validate the impact of pendulum mass, cart mass, and length of pendulum on stabilization and swing-up of cart-inverted pendulum. Inverted pendulum system is a classic benchmark example of underactuated electro-mechanical systems, where the degree of freedom is less than the number of inputs available. PID controller was designed for a set of parameter values of the system. MATLAB simulation was carried out for different values of pendulum mass (0.2–0.25 kg), pendulum length (0.3–0.34 m), and cart mass (2.3–2.45 kg). The performance of considered cart- inverted pendulum system is demonstrated with simulation results for a different set of results, and a comparative analysis was made to comment on their effects on swing-up and stabilization.KeywordsUnderactuated mechanical systemsCart-inverted pendulumDegree of freedomPID controllerStabilizationSwing-up
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