Abstract
This paper relates to the design of control systems for unstable mechanical systems. For demonstrating the applicability of control theory to practical real systems, a controller is designed and manufactured for a cart-pendulum system which has been studied by many control engineers as an “inverted pendulum” problem.
The control system presented in this paper is a hybrid controller which is constructed by an analogue stabilizing controller and a digital micro computer. The control system is designed to swing up into the inverted position the pendulum which stays initially in the natural pendent position and to stabilize the pendulum about the inverted position.
