MATHEMATICAL MODEL OF INVERTED PENDULUM WITH AIRCRAFT PROPERTIES

Abstract

The objective of this paper is to demonstrate the design of the inverted pendulum model with aircraft properties. The inverted pendulum is inherently unstable system and it is necessary to stabilize the pendulum closed loop system with PID regulator. Regulated parameter is force applied to the pendulum and regulation parameter is deviation from vertical position θ. The linearized model of an inverted pendulum is used to adjust derivation and proportional coefficients of the PID regulator, integration parameter is zero in this case. This regulator will be also tested on nonlinear model of the inverted pendulum.