Inverted Pendulum Human Transporter Balance Control System Based on Proportional Integral Derivative – Active Force Control

Many research for the balancing of inverted pendulum control system to develop the performance. This paper will simulate a Proportional Integral Derivative – Active Force Control (PID-ACF) methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and keep that condition stable and implemented to the segway chair human transporter. The combined control between PID and AFC system is used to maintain the actual acceleration is affected by disruption of the references given, because external disturbance can affect the system. For the experimental it will compare the performance between using a classical control PID and PID-AFC. Keywords: inverted pendulum, Active Force Control, segway