![]() Finally, experimental and MATLAB based simulation results are described and compared based on the three control systems which are designed to control the Rotary Inverted Pendulum.ĭynamic models are of central importance in engineering design for many fields of application but, within some areas, surprisingly little attention is given to the confidence that can be placed on predictions from such models and the implications of model quality, or the lack of it, for design. Here FSF and LQR control systems are tested both for the Upright and Swing-Up mode of the Pendulum. Secondly, the paper describes the two Modern Control techniques that include Full State Feedback (FSF) and Linear Quadratic Regulator (LQR). Designing the control system using 2DOF PID is quiet challenging task for the rotary inverted pendulum because of its highly nonlinear and open-loop unstable characteristics. Here the common Root Locus Method is described step by step to design the two compensators of PID controller. Firstly, the most popular Single Input Single Output (SISO) system, is applied including 2DOF Proportional-Integral-Derivative (PID) compensator design. In this paper some classical and modern control techniques are analyzed to design the control systems. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. Inverted pendulum control is one of the fundamental but interesting problems in the field of control theory.
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