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Abstract
The inverted pendulum serves as a testing bed for illustrating the applications of control theories. An inverted pendulum exists in different configurations. The common among these are the Rotary Inverted Pendulum and the Inverted Pendulum on a Moving Cart. This paper focuses on the modeling and dynamic validation of stabilising controllers for the Rotary Inverted Pendulum. The method deriving the linearised mathematical model of the system is Eular-Lagrange. Utilising MATLAB/SIMULINK comprehensive simulation and analysis were performed, manifesting in three distinct scenarios distinguished by carefully varying the damping ratio and natural frequency of the system.
To show the effectiveness of the designed controllers of each scenario, dSPACE was used to test the designed controllers using real-time simulations. On the hardware. The Second Scenario produced a better control performance with the pendulum maintaining an upright position during the experiment.
References
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