Abstract
The inverted pendulum has been considered a classical control problem. Two designs of inverted pendulum are planar and rotary with a nonlinear unstable system characteristic. Inverted pendulum systems are nonlinear. They can be used for testing and studying various observers and controllers. Control of a rotary inverted pendulum is studied here. This paper proposes stabilization of the rotary inverted pendulum at its upright position by using full-state controller. Full-state controllers are designed by using different damping ratios. MATLAB simulation results and the experimental results are taken for 10 degrees step for 5 seconds. The best controller is chosen for SRV02-Rotary inverted pendulum by looking at the simulation and experimental results.
Highlights
Inverted pendulum systems are treated as underactuated mechanical systems
Ozbek and Efe [4] focused on the swing up and stabilization control of a rotary inverted pendulum (RIP) system with linear quadratic regulator (LQR)
Inverted pendulum system has a great role in real application of engineering fields
Summary
Inverted pendulum systems are treated as underactuated mechanical systems. Different control algorithms are applied for solving swing-up control and stabilization problem. This makes the inverted pendulum problem one of the favorite topics for control problem. Mirsaeid and Zarei [2] presented a mechatronic system case study on adaptive modeling and control of an inverted pendulum. Genetic Algorithm (GA) was applied for the inner loop with PD controller forming the outer loop for balancing the pendulum in an inverted position. Ozbek and Efe [4] focused on the swing up and stabilization control of a rotary inverted pendulum (RIP) system with linear quadratic regulator (LQR). Mathew et al [9] performed a study on swing up and stabilization control of a RIP system. Four full-state controllers are designed by using MATLAB for the system stabilizing for linear dynamic model.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
