Design and analysis of the control of an inverted pendulum system by Matlab

Khizir Mahmud*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

2 Citations (Scopus)

Abstract

Analysis of a typical inverted pendulum control system is very effective to evaluate and understand the different control strategies and aspects of the control engineering. Fundamental ideas of the inverted pendulum control system can be applied in different industrial applications. Moreover, the stability control of the walking robot and the vibration control of launching platform for shutters is also have the same fundamental concept. In this paper a typical inverted pendulum system has been considered and then that system has been converted to mathematical equations based on motion. Later the equation has been linearized to analyze different parts of the control system through Matlab. The dynamic behavior of the inverted pendulum has been discussed along with the stability condition and also the controllability and observability of the system. To improve the performance and stabilize the system a state feedback controller has been designed. Finally a tracking controller with no steady state error has been designed and analyzed.

Original languageEnglish
Title of host publicationGHTCE 2013
Subtitle of host publication2013 IEEE Global High Tech Congress on Electronics
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages207-211
Number of pages5
ISBN (Electronic)9781479932092
DOIs
Publication statusPublished - 2013
Event2013 IEEE Global High Tech Congress on Electronics, GHTCE 2013 - Shenzhen, China
Duration: 17 Nov 201319 Nov 2013

Other

Other2013 IEEE Global High Tech Congress on Electronics, GHTCE 2013
Country/TerritoryChina
CityShenzhen
Period17/11/1319/11/13

Keywords

  • controllability
  • inverted pendulum
  • Matlab
  • observability
  • stability

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