Alternative controller design for rotary inverted pendulum

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...

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Permalink: http://skupni.nsk.hr/Record/nsk.NSK01001024864/Details
Matična publikacija: Tehnički glasnik (Online)
12 (2018), 3 ; str. 139-145
Glavni autori: Öksüz, Mehmet (Author), Önal, Mehmet Burak, Halicioğlu, Recep, Dülger, Lale Canan
Vrsta građe: e-članak
Jezik: eng
Predmet:
Online pristup: https://doi.org/10.31803/tg-20180208152214
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100 1 |a Öksüz, Mehmet  |4 aut  |9 HR-ZaNSK 
245 1 0 |a Alternative controller design for rotary inverted pendulum  |h [Elektronička građa] /  |c Mehmet Öksüz, Mehmet Burak Önal, Recep Halicioğlu, Lale Canan Dülger. 
300 |b Ilustr. 
504 |a Bibliografija: 16 jed. 
504 |a Abstract. 
520 |a 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. 
653 0 |a Obrnuto rotacijsko njihalo  |a Kontroler  |a Regulator  |a Linearizacija 
700 1 |a Önal, Mehmet Burak  |4 aut  |9 HR-ZaNSK 
700 1 |a Halicioğlu, Recep  |4 aut  |9 HR-ZaNSK 
700 1 |a Dülger, Lale Canan  |4 aut  |9 HR-ZaNSK 
773 0 |t Tehnički glasnik (Online)  |x 1848-5588  |g 12 (2018), 3 ; str. 139-145  |w nsk.(HR-ZaNSK)000810940 
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998 |b tino1911 
856 4 0 |u https://doi.org/10.31803/tg-20180208152214 
856 4 1 |y Digitalna.nsk.hr 
856 4 0 |u https://hrcak.srce.hr/206049  |y Hrčak