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

Alternative controller design for rotary inverted pendulum

Mehmet Öksüz   ORCID icon 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 (2 MB) str. 139-145 preuzimanja: 437* citiraj
APA 6th Edition
Öksüz, M., Önal, M.B., Halicioğlu, R. i Dülger, L.C. (2018). Alternative controller design for rotary inverted pendulum. Tehnički glasnik, 12 (3), 139-145. https://doi.org/10.31803/tg-20180208152214
MLA 8th Edition
Öksüz, Mehmet, et al. "Alternative controller design for rotary inverted pendulum." Tehnički glasnik, vol. 12, br. 3, 2018, str. 139-145. https://doi.org/10.31803/tg-20180208152214. Citirano 14.11.2019.
Chicago 17th Edition
Öksüz, Mehmet, Mehmet Burak Önal, Recep Halicioğlu i Lale Canan Dülger. "Alternative controller design for rotary inverted pendulum." Tehnički glasnik 12, br. 3 (2018): 139-145. https://doi.org/10.31803/tg-20180208152214
Harvard
Öksüz, M., et al. (2018). 'Alternative controller design for rotary inverted pendulum', Tehnički glasnik, 12(3), str. 139-145. https://doi.org/10.31803/tg-20180208152214
Vancouver
Öksüz M, Önal MB, Halicioğlu R, Dülger LC. Alternative controller design for rotary inverted pendulum. Tehnički glasnik [Internet]. 2018 [pristupljeno 14.11.2019.];12(3):139-145. https://doi.org/10.31803/tg-20180208152214
IEEE
M. Öksüz, M.B. Önal, R. Halicioğlu i L.C. Dülger, "Alternative controller design for rotary inverted pendulum", Tehnički glasnik, vol.12, br. 3, str. 139-145, 2018. [Online]. https://doi.org/10.31803/tg-20180208152214

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: 559 *