Cascade PI control of an inverted pendulum using C# with knowledge base

Abstract

This paper presents an inverted pendulum controlled by cascade PI algorithm using Microsoft C#. Increment rotary encoder will measure tilt angle and send feedback back to controller for PI calculation. Signal from rotary encoder is stored into the knowledge base. The angle error will update periodically. Controller algorithm is embedded in PC and control signal is sent to motor driver via RS232 and PIC16F877A. Proportional controller is applied for speed loop while PI controller is applied in position loop. PI calculation algorithm and feedback algorithm works independently to enhance to system performance.