Inverted Pendulum Control

Abstract

This paper is to study the control of an inverted pendulum. Which is a good example of nonlinear unstable process. The process to be controlled is an inverted hinged on a movable carriage. The pendulum movement is limited only on a single plane in the direction of the carriage movement. The carriage is installed on a straight rail and driven by a small dc motor.

The studies include a process modeling that results to state equation, measuring the model parameters, building a motor driver circuit, designing, simulating and building the controller. The controller utilizes is a Linear Quadratic Regulator (LQR) with Reduce Order Estimator, measurement only two states and other two states were estimated. Using MATLAB was for designing and simulating.

The designed controller was built and tested on inverted pendulum. The complete control system works satisfactory with sufficient stability.