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https://doi.org/10.31803/tg-20180208152214

Alternative controller design for rotary inverted pendulum

Mehmet Öksüz orcid id orcid.org/0000-0003-2096-5136 ; Turkish Aeronautical Association University, Mechatronics Engineering Department, Etimesgut, 06790, Ankara, Turkey
Mehmet Burak Önal ; Turkish Aeronautical Association University, Mechatronics Engineering Department, Etimesgut, 06790, Ankara, Turkey
Recep Halicioğlu
Lale Canan Dülger ; İzmir University of Economics, Mechanical Engineering Department


Puni tekst: engleski pdf 1.845 Kb

str. 139-145

preuzimanja: 1.770

citiraj


Sažetak

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.

Ključne riječi

controller design, full-state controller, linearization, pole placement, rotary inverted pendulum (RIP), stabilization

Hrčak ID:

206049

URI

https://hrcak.srce.hr/206049

Posjeta: 2.258 *