Design and Comparison of Different Controllers to Stabilize a Rotary Inverted Pendulum

Abstract

This paper describes the design procedures and design of various controllers for stabilizing a Rotary Inverted Pendulum System (RIPS). A PV (Position-Velocity) controller, LQR (Linear Quadratic Regulator) controller with different weighing matrices and an observer-based controller are tried on RIPS in MATLAB Simulink. The outputs obtained with different… (More)

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