Indian Journal of Science and Technology
DOI: 10.17485/ijst/2015/v8i5/60471
Year: 2015, Volume: 8, Issue: 5, Pages: 407–412
Original Article
V. Petchithai* , V. S. Chitra, M. Manimaran and T. Senthilrajan
Sethu Institute of Technology, Virudhunagar - 626115, Tamil Nadu, India; petchithaivelladurai@gmail.com
This paper proposes to build up a rotary inverted pendulum; its state space model was derived using Euler-Lagrange equation. This model was highly nonlinear. Stabilization and Self erecting a rotary inverted pendulum from sliding position and assessment of the pendulum in a straight up position was achieved by designing a control techniques like minimum order model, dead bead controller and Linear quadratic Regulator (LQR) using MATLAB domain. This concept was used in JCB, GRAIN and entertainment instrument in park.
Keywords: Quadratic Optimal Control, Real Time Control, Self Erecting
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