Inverted Pendulum Model & Control
Budget: $30 – $250 USD
I am working on a complete identification and control study of an inverted pendulum in MATLAB/Simulink. The main focus of the identification phase is handling measurement noise, so I need a solid approach that can filter or model the noise while still producing an accurate continuous-time or discrete-time plant model.
Please note that I want this project to be done **purely in MATLAB/Simulink at the theoretical and simulation level**. I do **not** need any physical implementation or experimental hardware setup.
Once the model is validated, I need **two separate controllers** to be designed, implemented, and compared. The possible options are **LQG/LQR control, robust control, and nonlinear control**. It is **not necessary to implement all three**. Choosing and developing **two suitable approaches** is enough, as long as the final report clearly compares them side by side so their strengths and weaknesses can be discussed in class.
## Main objectives
* Document the simulation setup, measured variables, controlled variables, and overall control objectives.
* Perform system identification in MATLAB/Simulink with explicit treatment of measurement noise, and deliver a model whose simulated open-loop response matches the reference data.
* Design, tune, and simulate the selected controllers; include time-domain metrics such as settling time, overshoot, and steady-state error, as well as any frequency-domain analysis that supports the discussion.
* Summarize the full work in both an engineering report and a concise presentation slide deck.
## Required deliverables
1. Simulink models and MATLAB scripts for identification and control.
2. A well-commented MATLAB function or Live Script that reproduces the main results.
3. A PDF report explaining the methodology, identification accuracy, and controller performance comparison.
4. A slide deck of about 10 to 12 slides for classroom presentation.
## Important note
My professor specifically asked for this project to be presented in **IEEE format**, so it is important that the **final report follows IEEE style and structure**. In addition, I also need a **presentation slide deck** that explains the full story clearly, from identification to controller validation.
I will consider the project complete when the simulated responses in your models match the documented performance metrics in the report, and when the presentation tells a coherent and clear story from system identification through control validation.
Please note that I want this project to be done **purely in MATLAB/Simulink at the theoretical and simulation level**. I do **not** need any physical implementation or experimental hardware setup.
Once the model is validated, I need **two separate controllers** to be designed, implemented, and compared. The possible options are **LQG/LQR control, robust control, and nonlinear control**. It is **not necessary to implement all three**. Choosing and developing **two suitable approaches** is enough, as long as the final report clearly compares them side by side so their strengths and weaknesses can be discussed in class.
## Main objectives
* Document the simulation setup, measured variables, controlled variables, and overall control objectives.
* Perform system identification in MATLAB/Simulink with explicit treatment of measurement noise, and deliver a model whose simulated open-loop response matches the reference data.
* Design, tune, and simulate the selected controllers; include time-domain metrics such as settling time, overshoot, and steady-state error, as well as any frequency-domain analysis that supports the discussion.
* Summarize the full work in both an engineering report and a concise presentation slide deck.
## Required deliverables
1. Simulink models and MATLAB scripts for identification and control.
2. A well-commented MATLAB function or Live Script that reproduces the main results.
3. A PDF report explaining the methodology, identification accuracy, and controller performance comparison.
4. A slide deck of about 10 to 12 slides for classroom presentation.
## Important note
My professor specifically asked for this project to be presented in **IEEE format**, so it is important that the **final report follows IEEE style and structure**. In addition, I also need a **presentation slide deck** that explains the full story clearly, from identification to controller validation.
I will consider the project complete when the simulated responses in your models match the documented performance metrics in the report, and when the presentation tells a coherent and clear story from system identification through control validation.