Cascade PID Control of an Inverted Pendulum on a Cart System: Simulation and Experimental Analysis

Abstract

This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using Simscape Multibody in Simulink, while a physical prototype was constructed using a DC motor-driven cart, pendulum, rotary encoder, ultrasonic sensor, and an Arduino. The cascade PID control structure consists of an inner loop regulating the pendulum angle and an outer loop controlling the cart position. Simulation results demonstrated effective stabilization of the pendulum and satisfactory position tracking under idealized conditions. Experimental results confirmed successful real-time stabilization but revealed notable differences from simulation, particularly in controller gains, transient behavior, and disturbance response due to sensor noise, unmodeled friction, and implementation constraints. The study also highlights the limitations of cascade PID control in disturbance rejection and large position commands, particularly under limited track length. A comparative analysis using an LQR-based inner loop demonstrated better disturbance rejection and reduced overshoot. The results provide practical insights into the applicability and limitations of cascade PID control of the inverted pendulum system.