V. Petchithai ¹, V. S. Chitra ¹, M. Manimaran ¹, T. Senthilrajan ¹

Affiliations
1 Sethu Institute of Technology, Virudhunagar-626115, Tamil Nadu, IN

Abstract

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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