Swing-up and control of Rotary Inverted Pendulum using pole placement with integrator

Rotary Inverted Pendulum (RIP) is highly nonlinear, unstable, multivariable and an under actuated system in the field of control theory. RIP is in one of the imperative systems for testing various control technique. It is most helpful for testing Self tuning regulator kind of control technique. This paper describe steps to design controllers for swing up and stabilization of RIP using Counter based and pole placement with integrator respectively. Finally, experimental and MATLAB based simulation results are used to validate the performance of controllers. A mode controller is also used to switch between Swing up and stabilization controllers. Mode controller is implemented using a switch in simulink imposing angle condition of pendulum. It is used to decide which controller actuate the plant out of two mentioned above.