ISSN (online) : 2395 - 7549

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Modelling and Simulation of Inverted Pendulum using Internal Model Control


Dimple J. Vora , L.D. Collage of Engineering ,Ahmedabad, Gujarat, India; Vandana V. Patel, L.D. Collage of Engineering ,Ahmedabad, Gujarat, India


IMC, Inverted Pendulum, MATLAB/simulink


The internal model control (IMC) philosophy relies on the internal model principle, which states that control can be achieved only if the control system encapsulates, either implicitly or explicitly, some representation of the process to be controlled. In particular, if the control scheme is developed based on an exact model of the process, then perfect control is theoretically possible. Transfer function of Inverted Pendulum is selected as the base of design, which examines IMC controller. Matlab/simulink is used to simulate the procedures and validate the performance. The results shows robustness of the IMC and got graded responses when compared with PID. Furthermore, a comparison between the PID and IMC was shows that IMC gives better response specifications.

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Manuscript Id :J4RV1I12023
Published in :Volume : 1, Issue : 12
Publication Date: 01/03/2016
Page(s): 41-45
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