Position control in compound pendulum system

Key Words: Compound Pendulum System, Position Control, Model Reference Adaptive Control, PID Compound pendulum system position control which is applied in different fields from eighteenth century to today has been an important problem of control engineering. Changes in pendulum parameters in the course of time affects system control negatively and could cause system instability. Classical control methods like PID etc. which have a great application area in literature became insufficient for solution of these mentioned problems. So the solutions of this problem using adaptive control methods are being necessary. Model reference adaptive position control in compound pendulum system has been supposed in this study. At first, using mathematical model of the compound pendulum system realized in the laboratory environment, PID and model reference control methods applied by using Matlab/Simulink software. After that the mentioned control methods are applied in real time with Labview Software and experimental results for different conditions are obtained. Simulation results and experimental results that has been obtained nearly the same and PD controller with model reference adaptive control fairly well results have been observed.