Abstract:
The inverted pendulum is a common, interesting control problem that
involves many basic elements of control theory. The inverted
pendulum system is an under actuated, unstable and nonlinear system.
Therefore, control system design of such a system is a challenging
task. This research investigates the stabilization of the inverted
pendulum system, first obtains the nonlinear modeling of this system.
Then, a linearized model is obtained from the nonlinear model. Next,
for this linearized system, a state feedback controller is designed via
pole placement method where the closed loop poles to be placed at
desired
locations.
Methods
are
MATLAB/SIMULINK environment.