Modeling and Control of Linear Cart-Pendulum System

摘要

This paper presents mathematical modeling of a moving Cart-Pole system and controller design for the stabilization purpose. Being a non-linear, non-minimum, unstable and under-actuated system, it's a challenging task to stabilize the moving cartpole system. Mathematical modeling of the system is developed from the physical laws. Controller is designed after linearizing the nonlinear system by using three different techniques, which are Linear Quadratic Regulator (LQR), LQR-Pole-placement-PID and Fuzzy-PID.