State-space control applied to the balance of a linear inverted pendulum (#1985)
Read ArticleDate of Conference
July 17-19, 2024
Published In
"Sustainable Engineering for a Diverse, Equitable, and Inclusive Future at the Service of Education, Research, and Industry for a Society 5.0."
Location of Conference
Costa Rica
Authors
Garcia Perez, Herlis Galdamis
Chávez Acuña, Carla Alexandra
Abstract
The present document includes the development and implementation of a linear inverted pendulum, along with an exploration of various control methodologies applied to inverted pendulums to evaluate their effectiveness in stabilizing the system under different conditions and disturbances. A state-space controller was designed specifically for the linear inverted pendulum system. Transmission was achieved using a belt and pulley DC motor, and an encoder was incorporated into the carriage rod to measure the pendulum's angular position. The pendulum was successfully controlled within a short period of time. Results are based on pole analysis and the successful implementation of a pole-placement controller in a physical inverted pendulum system. This work integrates concepts of electronics and control of unstable systems to achieve an implemented system that operates via pole-placement control.