Title :
Control of the inverted pendulum using state feedback control
Author :
Rybovic, Andrej ; Priecinsky, Martin ; Paskala, Marek
Author_Institution :
Dept. of Mechatron. & Electron., Univ. of Zilina, Zilina, Slovakia
Abstract :
Solving the operation of the inverted pendulum is one of the classical and fundamental problems in the area of control theory. In this paper, method of modern control by placement poles with help Ackerman´s method is presented. Control strategies are tested using simulation analysis and in real - time experiments which consists of hardware system PS600 and control units from dSpace company. The model is designed in MATLAB/Simulink environment. Finally, comparison of the results between the simulation model and the real plant is desribed.
Keywords :
nonlinear control systems; pendulums; pole assignment; state feedback; Ackerman method; MATLAB-Simulink environment; dSpace company; hardware system PS600; inverted pendulum control; pole placement; simulation analysis; state feedback control; Aerospace electronics; Control systems; Equations; Force; Friction; Mathematical model; Vectors; Ackermann; inverted pendulum; nonlinear control system; state space model;
Conference_Titel :
ELEKTRO, 2012
Conference_Location :
Rajeck Teplice
Print_ISBN :
978-1-4673-1180-9
DOI :
10.1109/ELEKTRO.2012.6225627
