ALTERNATIVE CONTROLLER DESIGN FOR ROTARY INVERTED PENDULUM

被引：1
|
作者：
Oksuz, Mehmet [1 ]
Onal, Mehmet Burak [1 ]
Halicioglu, Recep
Dulger, Lale Canan [2 ]
机构：
[1] Turkish Aeronaut Assoc Univ, Mechatron Engn Dept, TR-06790 Ankara, Turkey
[2] Izmir Univ Econ, Mech Engn Dept, Izmir, Turkey
来源：
TEHNICKI GLASNIK-TECHNICAL JOURNAL | 2018年 / 12卷 / 03期
关键词：
controller design; full-state controller; linearization; pole placement; rotary inverted pendulum (RIP); stabilization;
D O I：
10.31803/tg-20180208152214
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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 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 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.
引用
收藏
页码：139 / 145
页数：7
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