Optimal and robust tuning of state feedback controller for rotary inverted pendulum
Joint Authors
Naji, Rasha Muhammad
Ali, Hazim Ibrahim
Source
Engineering and Technology Journal
Issue
Vol. 34, Issue 15A (31 Dec. 2016), pp.2924-2939, 16 p.
Publisher
Publication Date
2016-12-31
Country of Publication
Iraq
No. of Pages
16
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
This paper presents the design and implementation of optimal and robust state feedback controller for rotary inverted pendulum system.
The Particle Swarm Optimization (PSO) method is used to find the optimal values of the state feedback gains subject to time response specifications and constraints.
To improve the tracking of the system, a robust state feedback plus integral controller is designed.
The simulation results show that the proposed controller can effectively stabilize the pendulum at the upright position.
Further, the proposed controller can compensate the variations in system parameters.
The effectiveness of the proposed controller is verified experimentally using real rotary inverted pendulum.
American Psychological Association (APA)
Ali, Hazim Ibrahim& Naji, Rasha Muhammad. 2016. Optimal and robust tuning of state feedback controller for rotary inverted pendulum. Engineering and Technology Journal،Vol. 34, no. 15A, pp.2924-2939.
https://search.emarefa.net/detail/BIM-770746
Modern Language Association (MLA)
Ali, Hazim Ibrahim& Naji, Rasha Muhammad. Optimal and robust tuning of state feedback controller for rotary inverted pendulum. Engineering and Technology Journal Vol. 34, no. 15A (2016), pp.2924-2939.
https://search.emarefa.net/detail/BIM-770746
American Medical Association (AMA)
Ali, Hazim Ibrahim& Naji, Rasha Muhammad. Optimal and robust tuning of state feedback controller for rotary inverted pendulum. Engineering and Technology Journal. 2016. Vol. 34, no. 15A, pp.2924-2939.
https://search.emarefa.net/detail/BIM-770746
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 2938-2939
Record ID
BIM-770746