Speed regulation of a torque-driven pendulum model via a PI based controller

PID and PI controllers are widely used in industrial processes and control engineering. These controllers require tuning of gains to achieve stability and output regulation. This paper demonstrates the application of a smooth PI controller combined with gravity compensation to regulate the speed of a torque-driven pendulum mechanism, assuming the plant model structure and parameters are known. The analysis uses fundamental concepts from Ordinary Differential Equations and classical control theory to establish tuning rules for speed regulation.