Stabilization of an Inverted Pendulum via a Swinging Arm

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.