Design of Kharitnov Polynomial Based State Feedback Controller for Rotary Inverted Pendulum
Author(s):
Jim George , Muthoot Institute of Technology and Science, Cochin, Kerala, India
Keywords:
Rotary Inverted Pendulum (RIP), State Feedback Controller, Kharitnov Polynomial, Stability Analysis
Abstract:
This paper deals with design of State feedback controller for Rotary Inverted Pendulum based on Kharitnov polynomial approach . Rotary Inverted Pendulum (RIP) is a nonlinear and unstable system. The key idea here is to stabilize the position of the pendulum at inverted position for the rotary base. This paper deals with mathematical modeling , design of state feedback controller and stability analysis for the system specified.
Other Details:
| Manuscript Id | : | IJSTEV1I11110
|
| Published in | : | Volume : 1, Issue : 11
|
| Publication Date | : | 01/06/2015
|
| Page(s) | : | 217-222
|
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