A complex overview of the rotary single inverted pendulum system

Author

Jadlovská, Slávka ; Sarnovský, Ján

Author_Institution

Dept. of Cybern. & Artificial Intell., Tech. Univ. of Kosice, Kosice, Slovakia

fYear

2012

fDate

21-22 May 2012

Firstpage

305

Lastpage

310

Abstract

The purpose of this paper is to perform an in-depth analysis of the rotary single inverted pendulum system using a Simulink block library designed by the authors of this paper - the Inverted Pendula Modeling and Control (IPMaC), which offers comprehensive program support for modeling, simulation and control of classical and rotary inverted pendula systems. With the aid of appropriate function blocks, GUI applications and demonstration schemes from the IPMaC, the rotary single inverted pendulum system is analyzed, modeled and successfully stabilized in the unstable inverted position.

Keywords

control engineering computing; graphical user interfaces; nonlinear systems; pendulums; GUI applications; IPMaC; Inverted Pendula Modeling and Control; Simulink block library; classical inverted pendula systems; comprehensive program support; demonstration schemes; function blocks; in-depth analysis; rotary single inverted pendulum system; Analytical models; DC motors; Equations; Libraries; Mathematical model; Numerical models; Torque; automatic model generation; custom block library; rotary single inverted pendulum; state-feedback control;

fLanguage

English

Publisher

ieee

Conference_Titel

ELEKTRO, 2012

Conference_Location

Rajeck Teplice

Print_ISBN

978-1-4673-1180-9

Type

conf

DOI

10.1109/ELEKTRO.2012.6225609

Filename

6225609