INVERTED PENDULUM on a

cart WITH linear ACTUATOR

PREPARED BY-
SHAURYA DAGAR (RA1911018010098)
INTRODUCTION
• An inverted pendulum is a pendulum that has its center of mass
above its pivot point. It is unstable and without additional help will
fall over.
• An inverted pendulum is a classic problem in dynamics and control
theory and is used as a benchmark for testing control strategies
• It is often implemented with the pivot point mounted on a cart that
can move horizontally under control of an electronic servo system
called a cart and pole apparatus
Inverted Pendulum on the cart

Where,
M =mass of cart
L =length of rod (considered as negligible
mass)
F =Rate of change of momentum
 Inverted Pendulum on the cart

• Essentials of stabilization
• The essentials of stabilizing the inverted pendulum are
1. Tilt angle
2. The position of the cart relative to track center
3. To prevent uncontrolled swinging, the frequency spectrum of the
pivot motion should be suppressed near radian frequency = (g/l)^2
MODELING OF AN INVERTED PENDULUM on cart

Summing the forces in the free-body diagram of the

cart in the horizontal direction, you get the
following equation of motion.

Where
N is the rection force of pendulum.
B is the friction
M is the mass of cart

Summing the forces in the vertical direction for the

cart will not yield any significant results so we can
neglect it
 MODELING OF AN INVERTED PENDULUM on cart

• Summing the forces in the free-body diagram of the pendulum in the

horizontal direction, you get the following expression for the reaction
force 

• Substituting value of N in the equation above gives-

MODELLING OF VERTICAL FORCES IN INVERTED PENDULUM
• Sum the forces perpendicular to the pendulum

• To get rid of the P&N terms in the equation above, sum the
moments about the centroid of the pendulum

• Substituting the above equation in sum of forces

perpendicular to pendulum
Linearization of system
• Since the analysis and control design techniques we will be
employing in this example apply only to linear systems, this set of
equations needs to be linearized
• we will linearize the equations about the vertically upward
equillibrium position and will assume that the system stays within a
small neighborhood of this equilibrium. The angle is set to 180
degree.
• Let the deviation of the pendulum's position from equilibrium be
       =    +     
      
Linearization continued..

• After substituting the above approximations into our nonlinear

governing equations we arrive at the two linearized equations of
motion.
• Previous eqn-

                                                                                             

• Now-
 Finding out transfer function

• We need to take the laplace transform of the equations which will

be

• We will eliminate X(s) by substitution for pendulum transfer

function

For transfer function of cart, output will be X(s)

PROGRAM IMPLEMENTATION AND
APPLICATION

• With aid of the Symbolic Math Toolbox, successfully implemented

both procedures as MATLAB functions which produce the equations
in the simplified and rearranged form, equivalent to the most
likely form obtained by manual derivation.
• Developed a MATLAB application with graphical user interface, the
Inverted Pendula Model Equation Derivator, which provides a
comfortable and user-friendly access to both functions: the user is
only required to select the desired type of system
(classical/rotary) and the number of pendulum links.
Case Study – Rotary Single Inverted Pendulum
System

• The rotary single inverted pendulum system is composed of a

homogenous pendulum rod attached to an arm which is free to
rotate in a horizontal plane
• The torque M(t) applied on the arm is used to control the two
degrees of freedom of the system: arm angle θ0(t) in rad, and
pendulum angle θ1(t) in rad.
• The system was introduced to feedback control community in 1992
by Katsuhisa Furuta, Professor at the Tokyo Institute of
Technology, and hence it is often referred to as the Furuta
pendulum.
Rotary single inverted pendulum system
scheme and basic nomenclature
Reference

• https://www.sciencedirect.com/science/article/pii/S2090447918
30073X#:~:
text=The%20system%20consists%20of%20a,couples%20are%20shown
%20in%20Fig
• https://
www.mathworks.com/help/mpc/ug/control-of-an-inverted-pendul
um-on-a-cart.html
• https://
www.sciencedirect.com/science/article/pii/S209044791830073X#f
0005
• https://www.researchgate.net/figure/Rotary-single-inverted-
pendulum-system-time-behavior-cart-position-and-pendulum-
angle_fig5_258795979
Thank you