MEM06: Qube - Inverted-Pendulum Control Position

The objective of this experiment is to design a closed-loop control system that regulates the position of a pendulum swinging from a rotating beam. There are two control problems to consider: the gantry (crane) problem where we would like to move the rotary section about while minimizing the swing of the pendulum and the inverted pendulum problem where we would like to balance the pendulum in the inverted position. The mathematical model of a the pendulum is derived from first principles and its physical parameters are identified. Once the model is validated, it is used to design a proportional-integral-derivative (PID) controller. After testing the PID controller in closed-loop simulations, it is tested experimentally.