Proceeding of the Faculty of technical Sciences, Novi Sad

Electrotechnical and Computer Engineering

Vol. 40 No. 10 (2025): Proceedings of the Faculty of Technical Sciences

MODELING AND CONTROL OF A CART WITH INVERTED PENDULUM

  • Žofia Galac
DOI:
https://doi.org/10.24867/32BE26Galac
Submitted
October 20, 2025
Published
2026-01-02

Abstract

As part of this work, a system with an inverted pendulum on a cart was studied. The system was modeled, resulting in both nonlinear and linearized models. Two control techniques were examined: PID control and feedback linearization. Simulations of such systems were carried out, and the advantages and disadvantages of the control techniques were analyzed.

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