Inverted Pendulum Control System
Full-stack controls project spanning modeling, hardware integration, and real-time stabilization.
Overview
Designed and implemented a full cart-pendulum system to study and stabilize an inherently unstable dynamic system. Starting from first principles, the system was modeled using nonlinear equations of motion and linearized about the upright equilibrium to obtain a state-space representation.
Methods
A Linear Quadratic Regulator (LQR) controller was designed and tuned in MATLAB to balance stability, control effort, and response speed. The physical system was built using a DC motor-driven cart, high-resolution encoders for position and angle feedback, and an Arduino-based control loop.
Key Findings
- The final system demonstrates reliable upright stabilization under real-world disturbances.
- Practical tuning addressed actuator saturation, friction, and sensor noise without sacrificing responsiveness.
- The project successfully connected state-space control theory with a working hardware implementation.