PolePole-Placement Controller and Minimum-Order State Design for Rotary Inverted Pendulum

Krishna, Bipin and Thirunavukkarasu, I and George, V I (2011) PolePole-Placement Controller and Minimum-Order State Design for Rotary Inverted Pendulum. In: Proceedings of the 1st International Conference on Modern Trends in Industrial Engineering,, November 17-19, 2011, S.V. National Institute of Technology, Surat – 395 007, Gujarat, India.

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The control of a Rotary Inverted Pendulum (RIP) is a well-known and a challenging problem that serves as a popular benchmark in modern control system studies for the last decades. The rotary inverted pendulum consists of a rigid link attached to a pivot arm. The primary objective is that the arm must move in the horizontal plane in such a way as to keep the pendulum in an upright position and to reduce the error of system angles. This paper presents a controller designed based on pole placement technique to keep the pendulum arm in the up position and minimum-order state observer using discrete time model of the system. Simulation results demonstrate the robustness and effectiveness of the proposed controller and controller with observer model

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Rotary Inverted Pendulum (RIP), Discrete state model, Pole placement, Minimum-order state observer.
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 22 Jun 2016 14:05
Last Modified: 22 Jun 2016 14:05
URI: http://eprints.manipal.edu/id/eprint/146390

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