Design of state-feedback controller by pole placement for a coupled set of inverted pendulums

Abstract

This paper presents controller design based on state-space pole-placement method for a non-linear dynamic system described by a double-parallel inverted pendulum i.e. two identical inverted pendulums on carts coupled by a spring. The state space model of this multivariable, dynamic, unstable and strongly coupled system developed elsewhere is taken and controller design task using pole placement method is carried out. The designed controller is tested on a real time control system. The experimental results verify the significance and performance of the designed controller both in terms of simulations based experiments and on a real laboratory scale system.