Design of adaptive PID controller based on maximum modulus theorem for inverted pendulum on a cart

Jim George, Bipin Krishna, V. I. George, Mukund Kumar Menon

Research output: Contribution to specialist publicationArticle


Stabilization of a pendulum in inverted position when the base is moving is one of the challenging tasks in aircraft, automobile and ship industries. So in this paper the system under consideration is inverted pendulum on a cart which has single degree of freedom (angular rotation of pendulum). In industries depending upon the variation in operating conditions controller have to be tuned accordingly. That is depending upon the desired conditions, controller parameters should have flexibility i.e. the principle of adaptive control. This paper in brief discuss about design of a tuning parameter based on Maximum Modulus Theorem so that the required time domain specifications can be achieved.

Original languageEnglish
Number of pages9
Specialist publicationSensors and Transducers
Publication statusPublished - 2012


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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