Inverted pendulum controlled by an analog PID controller: a framework for a laboratorial experiment

Abstract

This paper presents the design of a framework for a didactic kit for control studies based on a rotary inverted pendulum. One of the challenges was to involve students in the design of the platform. This first version of the kit was developed by students of the Integrated Master on Industrial Electronics and Computers Engineering at the University of Minho. It considers the design and implementation of the control of the angular position of an inverted pendulum through an analog Proportional, Integral and Derivative (PID) controller. This Single Input Single Output (SISO) control system allows retrieving the equilibrium position of the pendulum when it is subjected to disturbances.