PID based control of cart and pendulum system in simscape environment

This article considers simulation and control of highly unstable Inverted pendulum system in simscape environment. A model of the cart and pendulum system has been built in the simscape platform which renders the necessity of complex mathematical modeling. The simscape based modeling incorporated in this aided in giving a physical system simulation and representation for control of cart and pendulum system. The study considered an auto-tuned PID controller for stabilization of proposed system. Simulations were performed which indicate that proposed control scheme was able to stabilize cart and pendulum system within 1.0 sec with desired overshoot and steady state error performance.