Stability analysis and design of PI controller using Kharitnov polynomial for rotary inverted pendulum

Jim George, Bipin Krishna, V. I. George, C. Shreesha, Mukund Kumar Menon

Research output: Contribution to specialist publicationArticle

2 Citations (Scopus)

Abstract

Stability analysis of linear and non linear control systems is one of the major requirements of modern manufacturing plants, biomedical systems, aerospace systems, automobile systems and in industry. By assessment of stability only we can predict whether the system will work in desired conditions or not. This paper deals with mathematical modeling and design of swing up controller for a rotary inverted pendulum system which is non linear and unstable plant. In this system, the stabilization point considered is the inverted position of pendulum at inverted position while in rotation.

Original languageEnglish
Pages104-113
Number of pages10
Volume138
No.3
Specialist publicationSensors and Transducers
Publication statusPublished - 03-2012

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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