DESIGN OF POLE PLACEMENT CONTROLLER FOR INVERTED PENDULUM SYSTEM

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.