1 DOF Inverted Pendulum Simulation and Control Using The Method of Momentum Exchange

Inverted pendulum is one of the nonlinear problems discussed in undergraduate level control engineering courses, and the knowledge gained by studying Inverted pendulum can be widely used in many control applications. Apart from the conventional linear and rotary pendulum systems, balance control of an inverted pendulum using an inertia wheel through angular momentum exchange has been discussed in this research paying special attention to the applicability to distance learning. The closed-loop PID control is used to balance the pendulum system and in order to filter the noise effects, a discrete-time FIR filter has been introduced. In order to verification of the developed controller, the computer simulation-based non-linear simulator using the MATLAB Simulink has been introduced. The control system designed in this work stabilizes the inverted pendulum system for both a noise-free environment and an environment with simulated noise. The designed simulator displays a clear visual simulation of the physical system aiding the online learning.