Abstract:
The inverted pendulum represents a challenging problem in control and it has been widely used
to investigate and develop new control strategies that can effectively deal with non-linearities.
Our “Inverted Pendulum” consists of a horizontal rod (swinging arm) and vertical rod
("pendulum"). The horizontal rod is connected to a motor to balance and control the angle of the
vertical rod by state feedback method, that is designed and simulated by MATLAB and
Simulink. [1]
The aim of this project is to stabilize the inverted Pendulum at its perpendicular state
(equilibrium), such that the angle is controlled quickly and accurately so that the pendulum is
always be at that angle in the presence of disturbances, simulation results show that the
pendulum is stabilized and achieved the desired transient response specifications using state
feedback control strategy while considering the input as a torque applied to the upper joint
connecting the swinging arm with the pendulum, also we considered and achieved the stability
robustness due to variation in the system parameters.
