Alternative controller design for rotary inverted pendulum

Alternative controller design for rotary inverted pendulum

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The inverted pendulum has been considered a classical control problem.Two designs of inverted pendulum are planar and rotary with a nonlinear unstable system characteristic.Inverted pendulum systems are nonlinear.They can be used for testing and studying various observers and controllers.Control of a rotary inverted LIP SHIMMER CHAMPAGNE pendulum is studied here.

This paper proposes stabilization of the rotary inverted pendulum at its upright position by using full-state controller.Full-state controllers are designed by using different damping ratios.MATLAB Swim Goggles simulation results and the experimental results are taken for 10 degrees step for 5 seconds.The best controller is chosen for SRV02-Rotary inverted pendulum by looking at the simulation and experimental results.