Stabilizing Controller Design for Rotary Inverted Pendulum

Krishna, Bipin and Thirunavukkarasu, I and George, V I (2011) Stabilizing Controller Design for Rotary Inverted Pendulum. In: Proceedings of ‘National Conference on Communication Networks & Sensor Technology’, April-2011., Hindustan Institute of Technology, Chennai 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 stabilizing controller designed based on pole placement technique to keep the pendulum arm in the up position inside. Simulation results show that the controller is effective enough to keep the pendulum in up-right position.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Rotary Inverted Pendulum (RIP), Continuous state model, Pole placement.
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 24 Jun 2016 14:03
Last Modified: 24 Jun 2016 14:03
URI: http://eprints.manipal.edu/id/eprint/146407

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