Inverted pendulum with moving reference for benchmarking control systems performance

This paper presents inverted pendulum with moving reference for the testing of stabilizing control algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of the two masses, that slide along the horizontal plane, is controllable for the purpose of platform stabilization. The usefulness of the idea presented is demonstrated using computer simulations by employing proportional integral derivative (PID) control law.