Alternative controller design for rotary inverted pendulum
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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
University North
2018-01-01
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| Series: | Tehnički Glasnik |
| Subjects: | |
| Online Access: | https://hrcak.srce.hr/file/302946 |
| Summary: | 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. |
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| ISSN: | 1846-6168 1848-5588 |