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

Khizir Mahmud

doi:10.1109/GHTCE.2013.6767275

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

Khizir Mahmud^*

^*Corresponding author for this work

Faculty of Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-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 language	English
Title of host publication	GHTCE 2013
Subtitle of host publication	2013 IEEE Global High Tech Congress on Electronics
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	207-211
Number of pages	5
ISBN (Electronic)	9781479932092
DOIs	https://doi.org/10.1109/GHTCE.2013.6767275
Publication status	Published - 2013
Event	2013 IEEE Global High Tech Congress on Electronics, GHTCE 2013 - Shenzhen, China Duration: 17 Nov 2013 → 19 Nov 2013

Other

Other	2013 IEEE Global High Tech Congress on Electronics, GHTCE 2013
Country/Territory	China
City	Shenzhen
Period	17/11/13 → 19/11/13

Keywords

controllability
inverted pendulum
Matlab
observability
stability

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10.1109/GHTCE.2013.6767275

Cite this

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title = "Design and analysis of the control of an inverted pendulum system by Matlab",

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.",

keywords = "controllability, inverted pendulum, Matlab, observability, stability",

author = "Khizir Mahmud",

year = "2013",

doi = "10.1109/GHTCE.2013.6767275",

language = "English",

pages = "207--211",

booktitle = "GHTCE 2013",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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note = "2013 IEEE Global High Tech Congress on Electronics, GHTCE 2013 ; Conference date: 17-11-2013 Through 19-11-2013",

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Mahmud, K 2013, Design and analysis of the control of an inverted pendulum system by Matlab. in GHTCE 2013: 2013 IEEE Global High Tech Congress on Electronics. Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 207-211, 2013 IEEE Global High Tech Congress on Electronics, GHTCE 2013, Shenzhen, China, 17/11/13. https://doi.org/10.1109/GHTCE.2013.6767275

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AU - Mahmud, Khizir

PY - 2013

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N2 - 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.

AB - 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.

KW - controllability

KW - inverted pendulum

KW - Matlab

KW - observability

KW - stability

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M3 - Conference proceeding contribution

AN - SCOPUS:84899012253

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EP - 211

BT - GHTCE 2013

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - Piscataway, NJ

T2 - 2013 IEEE Global High Tech Congress on Electronics, GHTCE 2013

Y2 - 17 November 2013 through 19 November 2013

ER -

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

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