Design of Multivariable Systems Controlled by Novelty Based Techniques

Abstract

This paper proposes to build up a rotary inverted pendulum; its state space model was derived using Euler-Lagrange equation. This model was highly nonlinear. Stabilization and Self erecting a rotary inverted pendulum from sliding position and assessment of the pendulum in a straight up position was achieved by designing a control techniques like minimum order model, dead bead controller and Linear quadratic Regulator (LQR) using MATLAB domain. This concept was used in JCB, GRAIN and entertainment instrument in park.