PID Control of an Inverted Pendulum with Experimental Friction Model Estimation

Gün A., Karamancıoğlu A.

AKÜ FEMÜBİD, vol.21, pp.1078-1085, 2021 (Peer-Reviewed Journal)

  • Publication Type: Article / Article
  • Volume: 21
  • Publication Date: 2021
  • Doi Number: 10.35414/akufemubid.893694
  • Journal Name: AKÜ FEMÜBİD
  • Journal Indexes: TR DİZİN (ULAKBİM)
  • Page Numbers: pp.1078-1085
  • Eskisehir Osmangazi University Affiliated: Yes


An inverted pendulum system is designed, implemented, and stabilized on a short path. Proportional-

Integral-Differential (PID) control algorithm is embedded on a digital signal processing card to achieve

the stabilization in a real time. DC-motor dynamics of the inverted pendulum system and cart-track

friction are unknown and their effects are taken into account by the incremental duty cycle approach.

Experimental tests, conducted for various experimental conditions, have shown that the inverted

pendulum system reached the desired state in the presence of friction and various external