Design and Simulation of dead Beat Model and Minimum-Order state Observer for Rortary inverted Pendulum

Krishna, Bipin and Thirunavukkarasu, I and George, V I and Mohanty, Preeti (2010) Design and Simulation of dead Beat Model and Minimum-Order state Observer for Rortary inverted Pendulum. In: International Conference on Science & Technology: Applications in Industry & Education, 16 to 17 December 2010 , Penang, Malaysia .

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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. It is very useful to demonstrate concepts in linear control such as the stabilization of unstable systems. Besides, as a typical nonlinear system, inverted pendulum is often used as a benchmark for verifying the performance and effectiveness of a new control method because of the simplicities of the structure. The concept of dead beat model is unique to discrete-time control systems. In this paper design of dead beat model and the dead beat response have been simulated for the pendulum angle and the control effort to stabilize the pendulum. Also we have designed and simulated a minimum-order state observer to estimate the pendulum state variables

Item Type: Conference or Workshop Item (Paper)
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 04 Jul 2011 09:10
Last Modified: 05 Jul 2011 09:18
URI: http://eprints.manipal.edu/id/eprint/477

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