Real Time Control Of Rotary Inverted Pendulum

Abstract

This paper proposes advanced control strategy for a rotary inverted pendulum (RIP). RIP is an underactuated mechanical system because it has only one control input and two degrees of freedom. Because of its complex nonlinear dynamics, RIP is usually used to test performance of different control algorithms. First, laboratory electromechanical system representing the full control system is described in short, followed by the mathematical model for the RIP. Control problem is divided and implemented in two different steps: swing-up and stabilization routines. Here, a partial feedback linearization procedure and PID control are suggested for the control of RIP. The effectiveness of the proposed control method is tested in Matlab Simulink environment.