Modelling and Controller Design of Inverted Pendulum
Journal Title: International Journal of Advanced Research in Computer Engineering & Technology(IJARCET) - Year 2013, Vol 2, Issue 1
Abstract
In this paper modeling of an inverted pendulum has been done and then three different controllers (PID & SFB, LQR) have been used for stabilization of the pendulum. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of two masses that slide along the horizontal plane is controllable .The results of computer simulation for the system with Proportional, Integral and Derivative (PID) & State Feedback Controllers are shown. Main focus is to derive the mathematical model and the analysis of its system performance, then design a LQR controller in order to get better control
Authors and Affiliations
Mr. Pankaj Kumar , Mr. kunalchakrabortyis , r Rabi Ranjan Mukherjee , Mr. Suvobratra Mukherjee
Keywords
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