Control of Cart-Inverted Pendulum System Using Pole Placement

Ghosh, Sudipto (2016) Control of Cart-Inverted Pendulum System Using Pole Placement. MTech thesis.

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Abstract

The Cart Inverted Pendulum system has many real life applications like missile launching,balancing systems like human walking,aircraft landing pad in sea etc.Moreover this is a highly unstable and non-linear system and so designing a controller to bring the system to a stable condition is a challenging task.This thesis includes system and hardware description of Inverted Pendulum System,dynamics of the system and its state space model.In this thesis,pole placement methods like two-loop PID and PID+PI have been implemented for Inverted Pendulum System and this control strategies gives stable responses.With the recent devel-opment of LMIs tool,regional pole placement can achieve the goal as well.A regional pole placement controller is also synthesized, where desired specifications are transformed into LMI regions.In present case,a conical sector in the left half plane is taken and the method is implemented. Lastly,a reduced order controller is also designed and its bode magnitude plot is compared with that of the full order controller.The reduced order simplification method has an almost identical frequency response,showing that it can be utilized as well for stabilizing the CIPS.

Item Type:Thesis (MTech)
Uncontrolled Keywords:Two-loop PID;PID-PI;LMI;Pole Placement
Subjects:Engineering and Technology > Electronics and Communication Engineering > Sensor Networks
Engineering and Technology > Electrical Engineering > Wireless Communication
Engineering and Technology > Electronics and Communication Engineering > Adaptive Systems
Engineering and Technology > Electronics and Communication Engineering > Intelligent Instrumentaion
Divisions: Engineering and Technology > Department of Electrical Engineering
ID Code:8426
Deposited By:Mr. Sanat Kumar Behera
Deposited On:30 Aug 2017 12:18
Last Modified:30 Aug 2017 12:18
Supervisor(s):Ghosh, Sandip

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