Comparative Study of Inverted Pendulum with Various Types of Controllers

Abstract

Inverted Pendulum shows various applications in robotics industry like human posture system, robotic arm, Segway, rocket launching system, etc. It is also found to be useful in understanding and validating the concept of system theory and control engineering. Earlier, the use of inverted pendulum concentrates with the PID controller, which may not be suitable to analyze all aspects of the system. In recent decades, the use of Model Predictive Controller (MPC) has been encouraged because of its versatility. Also, the updated version of MPC known as Explicit-MPC and Gain Scheduled MPC have provided promising and accurate result than others. This paper presents the comparative analysis of various MPC controllers applied on the inverted pendulum holding on a cart. The simulation analysis has been performed using commercially available MATLAB Software and the simulated results are in good agreement.