Abstract
This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT communication developed will monitor to check the all conditions and performance results as well as help the inverted pendulum improved various operations of IoT control is discussed.
Highlights
Rotational and on-cart inverted pendulum are good example of non linear, unstable and high order systems that need to be stabilized
There are many kinds of theoretical control that can be applied to the inverted pendulum such as root locus, PID, Fuzzy logic, sliding mode or such new algorithms to balance and stabilize the inverted pendulum [2]
Dynamic balance can be achieved by adding mass to the system so that the inertia forces resulting from the added mass will be equal and opposite to those causing the shaking moment
Summary
Rotational and on-cart inverted pendulum are good example of non linear, unstable and high order systems that need to be stabilized This balancing system is applied on high precision control such as on Segway, humanoid or some legged robots and so forth [1]. Inverted pendulum is one of the most important plants in the science and industrial technologies [5] and ideal experiment device to test new control algorithm [6]. It because this system is poorly stable and has such as large of overshoot problem [7] and has a unique trait such as unpredictable, non-linear and consists of multiple variables [8].
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