Open AccessControl Design of an Inverted Pendulum on a Moving Base Using State Feedback
Author(s) -
Victoria Oguntosin,
Samson O. Oruma,
Ayoola Akindele,
Ademola Abdulkareem
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1107/1/012064
Subject(s) - inverted pendulum , control theory (sociology) , settling time , matlab , computer science , controller (irrigation) , state space , double inverted pendulum , base (topology) , representation (politics) , state space representation , control engineering , pendulum , robotics , state (computer science) , control (management) , artificial intelligence , mathematics , engineering , step response , algorithm , robot , physics , nonlinear system , mathematical analysis , quantum mechanics , mechanical engineering , law , biology , operating system , political science , agronomy , statistics , politics
A fascinating and essential control problem for researchers is the inverted pendulum. It remains a generally accepted standard used in control and robotics for validation of emerging control technologies. A mathematical model of the inverted pendulum on a moving base system was derived, an expression of the linearised state space representation of the system was also presented, a controller to achieve specific criterion of the steady state error, rise and settling time, and was obtained, an implementation of this control on MATLAB was carried out together with the simulated animation of the system using Simulink and Simscape.