Real Time Swing up and Stabilization of Rotary Inverted Pendulum System

Abstract

The control of inverted pendulum is a typical case as it exhibits a highly non-linear and unsteady phenomenon. This paper focusses on the comparative performance analysis for the swing up and stabilization of the inverted pendulum system. It uses trial and error method of LQR controller, algebraic approach for the selection of weighted matrices of the LQR controller, as well as the design and implementation of the state feedback pole-placement controller. The controllers used are for stabilization control and revolving up of Quanser based inverted pendulum system (QNET), which is rotary in the LabVIEW environment. The real-time operation has been carried out using the NI-ELVIS trainer kit, Quanser Rotary inverted pendulum system, and LabVIEW software.