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Vol. 138, No. 3, March 2012, pp. 104-113

 

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Stability Analysis and Design of PI Controller Using Kharitnov Polynomial for Rotary Inverted Pendulum

 

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

Department of Instrumentation and Control, Manipal Institute of Technology,

Manipal, Karnataka- 576104, India

E-mail: jimchiramattel@yahoo.com, bipinskrishna@yahoo.co.in, vi.george@manipal.edu

 

 

Received: 16 January 2012   /Accepted: 20 March 2012   /Published: 31 March 2012

Digital Sensors and Sensor Sysstems

 

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.

 

Keywords: Rotary inverted pendulum, System modeling, Kharitnov polynomial, PI controller, Stability analysis)

 

 

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