Stabilization of Real Inverted Pendulum Using Pole Separation Factor
Amr Roshdy, Lin Yu zheng, Hany F. Mokbel, Wang Tongyu
Available Online December 2012.
- https://doi.org/10.2991/mems.2012.107How to use a DOI?
- Inverted pendulum, separation factor, state feedback controller
- Based on the pole placement design technique, a full state feed back controller using separation factor is proposed to stabilize a real single inverted pendulum. The strategy is to start with selection two dominant poles that achieve a certain desired performance, using a separation factor between the selected dominant poles and the other poles to eliminate their effect on the system performance, and finally Ackermann’s formula can be used to calculate the feed back gain matrix to place the system poles at the desired locations. Simulation and experimental results demonstrate the effectiveness of the proposed controller, which offers an excellent stabilizing and also ability to overcome the external resistance acting on the pendulum system.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Amr Roshdy AU - Lin Yu zheng AU - Hany F. Mokbel AU - Wang Tongyu PY - 2012/12 DA - 2012/12 TI - Stabilization of Real Inverted Pendulum Using Pole Separation Factor BT - Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012) PB - Atlantis Press SP - 406 EP - 410 SN - 1951-6851 UR - https://doi.org/10.2991/mems.2012.107 DO - https://doi.org/10.2991/mems.2012.107 ID - Roshdy2012/12 ER -