Stabilization of a Vertical Inverted Pendulum Using Conventional PID Controllers

This paper presents conventional PID controllers for stabilizing a vertical inverted pendulum, which can move in the xz horizontal and vertical plane with the help of horizontal and vertical forces. Since the vertical inverted pendulum is a two input three-output system hence their PID controllers are used, two for position control while the remaining one for angle control. Simulation results carried out using Matlab Simulink show the effectiveness of the proposed controllers.