Title :
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
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;
Conference_Titel :
ELEKTRO, 2012
Conference_Location :
Rajeck Teplice
Print_ISBN :
978-1-4673-1180-9
DOI :
10.1109/ELEKTRO.2012.6225609
