Frontiers of Current Trends in Engineering and Technology April 2016

Copyright © 2016 Frontiers of Current Trends in Engineering and Technology, ACET 21 Abstract: The Cart-Inverted Pendulum System (CIPS) is a classical benchmark control problem. The control of this system is challenging as it is highly unstable, highly non-linear, non-minimum phase system and under actuated. The basic control objective of the inverted pendulum is to maintain the unstable equilibrium position, by controlling the force applied to the mobile cart in the horizontal direction. In this paper a controller is designed for the stabilization purpose based on the stability theory of Lyapunov which is one of the model reference adaptive control (MRAC) methods. The performance of the proposed control algorithm is evaluated and shown by means of digital simulation.