Development of Graphical Interface System for Inverted Pendulum Stabilization

Erwin Susanto

doi:10.24843/lkjiti.2019.v10.i03.p03

Abstract

   Currently, most of basic control engineering lectures teach both mathematic model and control of an inverted pendulum to explain stability problems in dynamic systems. The inverted pendulum system is a pendulum controlled with a certain force in order to stand in balance around vertical equilibrium line. Hence this system is a highly unstable system and needs stabilization methods using a kind of controller. This paper describes how to design a Proportional Derivative Integral (PID) controller via root locus technique to stabilize it and realization of its interface system for monitoring angle trajectory. This visualization is needed to observe the stability and effectiveness of its mathematic model and control design. Experimental results and analysis show that control design and interface system can be implemented well.  

Highlights

To explain such a problem of stability in dynamic systems, inverted pendulum has become one of the important research topics for control system and engineering
This paper describes how to design a Proportional Derivative Integral (PID) controller via root locus technique to stabilize it and realization of its interface system for monitoring angle trajectory
Research Methods Research methods in this paper consist of design control for inverted pendulum stabilization using PID control technique and graphical interface design to observe the stabilization by figuring trajectory of pendulum angle around equilibrium line

Summary

Introduction

To explain such a problem of stability in dynamic systems, inverted pendulum has become one of the important research topics for control system and engineering. Inverted pendulum concept was applied to aircraft autopilot systems, balancing robot and Segway. The main purpose of inverted pendulum control is to stabilize an unbalanced system [2]. This research aims to design and implement an inverted pendulum stabilization control and observe the graphic of the inverted pendulum angle by using an interface system. The control scheme used in this research was PID control for balancing inverted pendulum around equilibrium position. There are two variables that must be controlled, cart position moved by dc motor and pendulum angle balanced in erected position.

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Conclusion