Control of Cart Inverted Pendulum System Using Model Matching in Cascade Control Architecture

In this work, a simple cascade control structure (CCS) with filter is used to control the cart inverted pendulum system. As the CCS comprises of Secondary loop and primary loop, the secondary loop is designed to counteract disturbances affecting the pendulum and maintain its upright position, while the primary loop aims to achieve precise setpoint tracking by adjusting the cart’s position. The controllers of both the loops are designed based on model matching techniques in the low-frequency range and positioning a pole within the characteristic equation. The only tuning parameter is chosen based on maximum sensitivity of the system. Performance is assessed through simulations and comparisons with recent literature. Results indicate a significant improvement in servo tracking and regulatory performance for the cart-inverted pendulum system under both nominal and noisy conditions when compared with the available literature.