Design and Simulation of Quadratic Optimal Controller for Rotary Inverted Pendulum

Krishna, Bipin and Thirunavukkarasu, I and George, V I and Mohanty, Preeti (2010) Design and Simulation of Quadratic Optimal Controller for Rotary Inverted Pendulum. In: International Conference on System Dynamics and Control, 19th -22nd August 2010, MIT-Manipal, India.

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Abstract

Rotary Inverted Pendulum is a highly nonlinear benchmark system used in all control system design laboratories. Since the system is highly nonlinear the issues associated with the system is quite complicated and well suited for a control system design engineer or researchers. 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. The linearized continuous time state model of the system is derived considering the equilibrium state of the system. Later the continuous state model is converted to discrete time domain and the controllability and observability of the system has been verified. Using the discrete time model a quadratic optimal controller has been designed to stabilize the Inverted pendulum. The simulation results shows that the controller designed is much efficient to bring the pendulum arm to the equilibrium position

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Rotary Inverted Pendulum (RIP), Continuous state model, Discrete time model, Quadratic optimal controller
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 29 Jun 2011 10:55
Last Modified: 29 Jun 2011 10:55
URI: http://eprints.manipal.edu/id/eprint/288

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