Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012)

Stabilization of Real Inverted Pendulum Using Pole Separation Factor

Authors
Amr Roshdy, Lin Yu zheng, Hany F. Mokbel, Wang Tongyu
Corresponding Author
Amr Roshdy
Available Online December 2012.
DOI
https://doi.org/10.2991/mems.2012.107How to use a DOI?
Keywords
Inverted pendulum, separation factor, state feedback controller
Abstract
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.

Download article (PDF)

Volume Title
Proceedings of the 1st International Conference on Mechanical Engineering and Material Science (MEMS 2012)
Series
Advances in Intelligent Systems Research
Publication Date
December 2012
ISBN
978-90-78677-59-8
ISSN
1951-6851
DOI
https://doi.org/10.2991/mems.2012.107How to use a DOI?
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  -