Implementation and Real-time Tuning of PID Control for Inverted Pendulum System with Time Delay - A Practical Approach

Control of systems with time delay is difficult as compared to simple process control. Numerous parameters estimation techniques for the control implementation of non-linear systems with time delays are available in literature, but these techniques become cumbersome while tuning the system, due to complex calculation structure and wide ranges for tuning parameters. This paper describes and examines experimentally a general practical approach that can be followed while tuning a system with time delay. Inverted Pendulum system is used as a testing platform and Proportional Integral Differential (PID) control technique is being analyzed in real-time for this research. Inverted Pendulum system modeling, PID control of system with time delay and real time processing of this approach are presented. PID controlling parameters modification has been contemplated on experimental bases with different delays. It has been concluded that derivative action plays significant role while tuning a system with time delay.