Modeling and Controller Design for an Inverted Pendulum System

Lenka, Netranjeeb (2011) Modeling and Controller Design for an Inverted Pendulum System. BTech thesis.



The Inverted Pendulum System is an under actuated, unstable and nonlinear system. Therefore, control system design of such a system is a challenging task. To design a control system, this thesis first obtains the nonlinear modeling of this system. Then, a linearized model is obtained from the nonlinear model about vertical (unstable) equilibrium point. Next, for this linearized system, an LQR controller is designed. Finally, a PID controller is designed via pole placement method where the closed loop poles to be placed at desired locations are obtained through the above LQR technique. The PID controller has been implemented on the experimental set up.

Item Type:Thesis (BTech)
Uncontrolled Keywords:Inverted Pendulum, nonlinear system, LQR technique
Subjects:Engineering and Technology > Electrical Engineering
Divisions: Engineering and Technology > Department of Electrical Engineering
ID Code:2213
Deposited By:Mr. Netranjeeb Lenka
Deposited On:13 May 2011 09:28
Last Modified:13 May 2011 09:28
Supervisor(s):Ghosh, A

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