Swing-up Controller Design for Rotary Inverted Pendulum

Krishna, Bipin and Thirunavukkarasu, I and George, V I (2010) Swing-up Controller Design for Rotary Inverted Pendulum. In: Proceedings of ‘National Conference on Advances in Electrical Engineering’, Dec-2010., NITTE-Karkala, India.

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Abstract

The control of an inverted pendulum is a well-known and a challenging problem that serves as a popular benchmark in modern control system studies. The inverted pendulum consists of a rigid link attached to a pivot arm. The arm must move in the horizontal plane in such a way as to keep the pendulum in an upright position. This is similar to the classic pendulum mounted on a cart which must move in such a way as to keep the pendulum in an upright position. This paper presents a swing-up controller designed for bringing the pendulum arm to the up position inside. Many methods are available to bring the pendulum arm from down position to the upright position. In this paper a positive feedback PD controller is proposed because of its simple structure, effectiveness and easy tuning.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Rotary Inverted Pendulum (RIP), Continuous state model, PD controller
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 23 Jun 2016 14:51
Last Modified: 23 Jun 2016 14:51
URI: http://eprints.manipal.edu/id/eprint/146400

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