Competency Demonstration Report: PID Control for Pendulum Balancing

This competency demonstration report details a mechanical engineering project focused on using PID control theory to balance an inverted pendulum. The project, conducted at the International Islamic University Malaysia, involved designing and implementing a control system to maintain the pendulum in an upright position. The report covers the project background, objectives, the student's role in developing the mechanical design, and the mathematical calculations required for balancing the cart and pendulum system. It highlights the use of a DC motor, analog components, and a linear guide system. The report also addresses challenges such as developing a compensated design and the solutions implemented, including the use of Matlab for simulations and root locus analysis. The project emphasizes collaborative work and the application of PID control to achieve precise and efficient balance, demonstrating the student's understanding of control systems and mechanical engineering principles.

COMPETENCY
DEMONSTRATION REPORT
Career Episode 1

CE 1.1 Project Information
Name of the project: use PID Control Theory to Balance the Pendulum in the Upright
Position
Location of the project: International Islamic University Malaysia
Project Duration: December 2015
Organization: Kulliyah of Engineering
Role and Designation during the time: Team Member
CE 1.2 Project Background
Technology has been supporting the human kind in better and advanced life living in the
present and many innovative technologies have come in trend and utilizing hem efficiently can
be helpful in making a better world. Inverted pendulum is one of the innovative technology that
can be helpful in making the technological services far better as it has many applications in
present time. I identified it as a trending technology and proposing an efficient and effective
control system that can control it will make it a revolutionary product in the market. I used the
Proportional, Integral, Differential (PID) control theory in manner to establish the balance for the
pendulum in the upright position. I utilize the criticism control framework in manner to keep the
inverted pendulum in the upright position considering the various calculations eliminating the
factors related to the vicinity of unsettling influence.

CE 1.2.1 Characteristics of the project
I had analysed the previous models of the pendulum trucks and modified the existing
design and specifications through forcing the pendulum tuck to move along the truck that has
been pulled by a connecting belt connected to an electrical engine. I modified the previous
design of the pendulum in which two potentiometers have been utilized for the measuring he
point of mass of the pendulum with a criticism control framework. Through providing beginning
uprooting, I set the pendulum to the upright position physically. The controller has been changed
at the particular point in manner to stabilize the pendulum despite of the “vicinity of unsettling
influence.” I draw the following flowchart for the execution of this project:
CE 1.2.2 Objectives developed for the project
Following are the objectives for the successful deployment of the project:
 To develop an inverted pendulum system mechanism
 To develop a discrete, analog-based controller for the system
 To investigate the performance of the system
 To deliver the project within the expected time
 To keep the budget of the project minimum without altering the quality
CE 1.2.3 My area of work
I was appointed for developing the mechanical design of the project that was consist of
the pendulum along pulley, cart, and belt system. I kept a moving part in the project that was the
hinge supporting the cart in the upright in the upright position. I kept the model in the form as it
can move horizontally and the setup was adjusted accordingly through considering the rigid parts

like belt system and pulley. I selected the components those were helpful in delivering the
project that includes Analog components, DC motor, liner guide system, and the potentiometer. I
selected the best components those could be available in the market at low price and capable of
delivering the output.
CE 1.2.4 Project Group
CE 1.2.5 My responsibilities throughout the project
I was responsible for managing all the mechanical works those are considerable for the
delivery of the project including the mathematical calculations necessary for balancing the cart
and the pendulum. I proposed the actuation mechanism system equation consisting the
components such as cart, belt, pulley, and DC motor. I had to do the maths accurately and

precisely and make sure that the pendulum is capable of handling the load and balancing the
moving object. I used the following parameters for the preparation of this model:
I had to analyze he compensated design of the developed project considering the
transient, overshoot, damping ratio and other factors.
CE 1.3 Distinctive Activity
CE 1.3.1 Comprehending the theory of the project
We had modified the pendulum truck in manner to allow it to move along the track which
can be pulled by a belt that has been physically associated with the electrical engine established
in the project development. I replaced the previously designed pendulum that has two
potentiometers calculating the variables related to the position of the truck and measurement of
the point of the pendulum. Thus, it resulted in the point of the pendulum as a sophisticated
framework. I actualized a criticism control framework in manner to maintain the stability of the
pendulum in the upright position that helped in achieving the objectives set before the execution
of the project. We physically adjusted the upright position of the pendulum through providing

beginning uprooting. At this particular point, I changed the controller in manner to maintain the
stability of the pendulum despite of the facts associated with the vicinity of unsettling influence.
CE 1.3.2 Accomplishment and task performed
The first phase was to collect information regarding the previous researches and identify
the gaps in them and propose a model that has the property without adhering the previous issues.
I had developed the mechanical design of the project in association with some part of the
electrical designing in manner to develop a project that can alternatively result in the
development of a successful project. Next phase was to do the mathematical calculation those are
necessary for balancing the cart and the pendulum. I executed the calculations and proposed the
actuation mechanism sequence. Simulation was the last phase for bringing the outputs of the
developed model.
Figure 1: Mechanical design

CE 1.3.4 Identified issues and their solutions
1.3.4.1 Issues
Developing a compensated design was one of the issue identified while delivering the
project as delivering the project without identifying the compensation goals could affected the
delivery of the project. It was a crucial factor to achieve a high compensation performance as the
inverted pendulum would might have affect the development of the project.
1.3.4.2 Solutions
I set the compensation goals for the delivery of the project and used Matlab for the
development of the compensated design that can contribute in the development and growth of the
project. Firstly, I introduced the poles at zero n manner to eliminate the effect of the zero that
give the following results:
Figure 2: Root locus analysis
Thereafter, I added two zeroes of the controllers, and two real poles at -10 that he;lped in
getting the following simulation:

Figure 3: Root locus Modification
Thereafter, I set the gain through making the roots characteristics equation corresponding
to (damp ratio = 0.75 and settling time = 0.5) that resulted in the following result:
Figure 4: Gain
CE 1.3.5 Plan to produce creative and innovative work
We collected many research papers proposed by the scholar writers at the online library
and tried to collect the necessary data and information those are necessary for the development
and execution of this model. I compared every article and identified the gaps in between them

and thus, utilized PID as the controlling system for the project. I eliminated the biggest factors
those affecting the previously managed inverted pendulum.
CE 1.3.6 Collaborative work
The project was successfully delivered because of the attempts driven by the entire team
as a whole and their contribution was very crucial for the successful delivery of the project. The
team leader had managed and assigned the roles and responsibilities of the team members and
the project was executed under the guidance of the project supervisor. The team was a group of
four members and I utilized my personal behaviour for the management of the team and
coordinating with them. Every individual was assigned with different sector of job and thus, they
had to deliver the simulation testing, design development, electrical designing and connections
and others.
CE 1.4 Project Review
CE .4.1 Project Overview
I utilized PID as a controller for the precision control over the inverted pendulum and
developing a model that can be helpful in effectively and efficiently balance it. The project has
many phases and it was a team work that helped in successful development of an effective and
efficient model for controlling and balancing the inverted pendulum.
CE 1.4.2 My contribution to work
I was working as a team player and managed to collaborate with the team without any
conflict. I managed the shopping of the electrical and mechanical components those were

necessary for the development of the project. I estimated various factors those were related to the
balancing and controlling the balance of the inverted pendulum.