Control Of Practical Inverted Pendulum Using State-Feedback Control Scheme

Mohd Zaini, Mohd Ghazali (2009) Control Of Practical Inverted Pendulum Using State-Feedback Control Scheme. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The inverted pendulum controlling system consists of three main problems that always appear in control applications which are nonlinear system, unstable and non minimum behavior phase system. The objective of this project is to design and applied a State-Feedback Controller on practical based inverted pendulum. Here, the pole-placement approach which is able in stabilizing the practical based inverted pendulum at vertical position and at the same time placing a cart at desired position will be designed. This controller will be implemented using Real-Time Windows Target application. Firstly, the mathematical model of an inverted pendulum system is synthesized. Then, the linearization technique will be applied to the nonlinear model so that the design of the State-Feedback Controller can be accomplished. The second stage involves analysis of simulation work and results. The final stage is implementing the controller to the practical based inverted pendulum. The performance test results is then presented and compared with simulation results which will verify the successful design and implementation of the controller. The simulation work is done using a MA TLAB/SIMULINK platform and the Advantech PCI-1711 card is used as 1/0 devices to enable the interface with the practical based inverted pendulum system.

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