Stability and Control of an Inverted Pendulum Motion

Abstract

This work presents a study for stability and control of an Inverted Pendulum system, and delivers a model for the system to help the engineers in handling all system parameters. By using this model, the engineers are able to simulate a rocket on lift off and investigate the effect of the viscous friction on its performance and stability where it has been shown that any increasing in the viscous friction coefficient leads to lower overshoot value. This work presents a study of different optimization approaches and then utilizes two modern optimization approaches and their hybrid to tune the controller used. It has been demonstrated that the hybrid GSA-GA is the suitable technique for controller tuning. In this thesis, an investigation for changing the motor type is carried out. Through this investigation, a comparison between DC motor, universal motor, and switched reluctance motor is also carried out. After carrying out many case studies, the conclusion is that DC motor can drive the system with an accepted settling time and no oscillations. So, DC motor is recommended to be used with this system. Finally, all of the above mentioned conclusions are important to arrive to the final stage, which is selection of the most proper controller type. PID controller has succeeded in controlling and stabilizing the system but with a long settling time. PIDA solves this problem and also