Stabilization and tracking control of X-Z inverted pendulum based on PID controllers

In this paper, we give a x-z inverted pendulum driven via the combination of the horizontal and vertical control forces. The x-z inverted pendulum can move in the horizontal and vertical space. Stabilization and tracking control of this type inverted pendulum is given with PID controllers. Control performance of the x-z inverted pendulum is compared with that of the customary inverted pendulum. Simulation results show that the x-z inverted pendulum not only can realize more fast and accurate stabilization and tracking control, but also have more flexibility than the customary inverted pendulum.