Real-Time Control of an Inverted Pendulum: A Comparative Study
Mukhtar Fatihu Hamza, Zaka-ur-Rehman, Q. Zahid, Furqan Tahir, Zubaah Khalid · 2011
In this paper, we consider the problem of real-time control of an Inverted Pendulum. We design and implement four different control algorithms, namely PID, Pole placement, LQR and Fuzzy Logic. These controllers are applied to the Inverted Pendulum in real-time and their performance is compared on the basis of Pendulum regulation, disturbance rejection and control energy specifications. We also provide a performance comparison based on the ISE index.