Modelling and simulation of rotary inverted pendulum design

Nurul Suhailah , Saadon (2015) Modelling and simulation of rotary inverted pendulum design. Project Report. UTeM. (Submitted)

Text MODELLING AND SIMULATION OF ROTARY INVERTED PENDULUM DESIGN.pdf Download (263kB)

Abstract

Rotary Inverted Pendulum System (RIPS) has become one of the most challenging task even it is an interesting system in this era. RIPS is a classical system that includes in this engineering system field with characteristics which is an unstable system, multi-variables and non-linear system. The stucture of this inverted pendulum system is made up of a vertical pendulum rod, a horizontal arm and an encoder which will drives the pendulum to rotate. This project intends to obtain a mathematical modeling for the RIPS and to develop the controller for the system. The mathematical model can be obtained by deriving the model of inverted pendulum system by using Euler’s equation to perform state space equation. Therefore, the Pole Placement controller is proposed in this project to regulate the RIPS to drive it in upright position. The mathematical derivations proved that the designed controller is required to stabilize the inverted pendulum system. Simulation study is performed to prove the effectiveness of the designed controller and the result shows that the controller is capable to maintain the pendulum in the stable inverted position at the desired value of parameters.

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