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Application and Comparison of Few Control Methods to Inverted Pendulum Dynamics

The control of inverted pendulum has been very attractive due to its complex dynamics. The aim of this paper is to investigate few control applications to this system. Four control schemes are applied to control the position of the pendulum and cart. These are PID, LQR, Pole placement and Fractional PID schemes. The optimal values of Q and R have been obtained by using the genetic algorithm. The simulation results are obtained using MATLAB. The paper also presents the comparison of performance from these controllers.