Control Design of an Inverted Pendulum on a Moving Base Using State Feedback

Abstract

A fascinating and essential control problem for researchers is the inverted pendulum. It remains a generally accepted standard used in control and robotics for validation of emerging control technologies. A mathematical model of the inverted pendulum on a moving base system was derived, an expression of the linearised state space representation of the system was also presented, a controller to achieve specific criterion of the steady state error, rise and settling time, and was obtained, an implementation of this control on MATLAB was carried out together with the simulated animation of the system using Simulink and Simscape.

Reduced Order Observer Based Pole Placement Design for Inverted Pendulum on Cart

“…In [4][5][6][7][8][9] simulation of inverted pendulum has been tested using full sate feedback and the gain of the state feedback has been obtained using linear quadratic regulator and pole placement control. Full state estimator for inverted pendulum on the cart has been simulated and designed.…”