Abdullah Çakan, Fatih Mehmet Botsalı, Mustafa Tınkır
4th International Conference on Control, Mechatronics and Automation (ICCMA '16) , December, 2016, Barcelona/SPAIN, Pages 136–139
Publication year: 2016


This research is aimed at developing a multi-body simulation model and control of an inverted pendulum. A virtual prototype of the inverted pendulum is built by using MSC Adams software and the plant model is exported to MATLAB. It is co-simulated in both MATLAB and MSC Adams softwares together. Proportional-integral-derivative (PID) controller is designed and implemented in order to use in pendulum angle control simulations. The modelling and control results shows that the Proportional-integral-derivative (PID) controller can successfully achieve pendulum angle control of the inverted pendulum. Controlled pendulum angle results are simulated and given in the form of the graphics.