Stabilization of Inverted Cart-Pendulum System Using PI^𝜆D^𝜇 Controller: A Frequency-Domain Approach

Table 1

Inverted cart-pendulum system parameters.

S. no.	Inverted cart—pendulum system parameters (in SI units)	Values
(1)	F—applied force to cart (N)	±24
(2)	X—position of cart from the reference (m)	±0.3
(3)	𝜃—angle of the pendulum with respect to vertical (rad)	≤0.1
(4)	M—mass of cart (kg)	2.4
(5)	m—mass of the pendulum (kg)	0.23
(6)	L—length of the pendulum (m)	0.4
(7)	J—moment of inertia of pendulum (kg·m^2)	0.099
(8)	b—coefficient of cart friction (Ns/m)	0.055
(9)	g—acceleration owing to gravity (m/s^2)	9.81