Design, Implementation and Nonlinear Control Analysis of a Furuta Pendulum System

Abstract

This paper discusses the implementation, design, control and stability of a Furuta Pendulum, known for being a highly nonlinear mechatronic system. In this research, the dynamic of a conventional PID controller against a non-linear controller such as the Model Reference Adaptive Control (MRAC) combined with the PID, where the reference model was approximated to a second order system by defining the desired overshoot and settling time of the system are compared. Finally, a real implementation is shown in order to validate the designed controller, discussing the hardware implementation and the nonlinear control design.