Control of a rotary inverted pendulum via adaptive techniques

Abstract

Time-varying systems are tough to be controlled as many classical controllers fail to do the same. Adaptive control is a solution to such class of problems but it is a challenging task to implement it. In this paper, an attempt has been made to design and implement two adaptive controls for a rotary inverted pendulum. A self-tuning regulator with linear quadratic regulator is the first choice of the control strategy which makes it an optimal adaptive control and the other adaptive technique is the model reference adaptive control using state feedback using pole placement technique.