An inverted pendulum mounted on a motor-driven cart

Chapter 13, Problem 27

(choose chapter or problem)

An inverted pendulum mounted on a motor-driven cart (Prasad, 2012) was the subject of Problem 33, Chapter 9. In that problem you were asked to develop Simulink models for two feedback systems,one ofwhichwastocontrolthecart position, x(t). At the recommended settings, the step response of that system was expected to satisfy the following requirements: a steady-state error, \(e(\infty) <2 \%\), a peak time, \(T_P<1.2\) seconds, and a percent overshoot, %OS <20.5%. Having concluded that the steady-state error was unacceptable, you designed a PID controller and found its recommended settings.

Digitize the Simulink model developed for PID control of the cart position in Part d of Problem 33, Chapter 9, by adding a zero-order-hold set to 0.01 second. Then, run a simulation to evaluate performance.

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