bullet Sensors & Transducers Journal

    (ISSN 1726- 5479)


2008 e-Impact Factor

25 Top Downloaded Articles

Journal Subscription 2012

Editorial Calendar 2012

Submit an Article

Editorial Board

Current Issue

Sensors & Transducers journal's cover

Sensors & Transducers Journal 2011

Sensors & Transducers Journal 2010

Sensors & Transducers Journal 2009

Sensors & Transducers Journal 2008

Sensors & Transducers Journal 2007

2000-2002 S&T e-Digest Contents

2003 S&T e-Digest Contents

2004 S&T e-Digest Contents

2005 S&T e-Digest Contents

2006 S&T e-Digest Contents


Best Articles 2011




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




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)



Buy this article online or subscribe Sensors & Transducers journal (12 issues per year plus special issues; 40 % discount for payment IFSA Members):



Sensors & Transducers journal subscription

450 $ US per year:


Buy this article for
14.95 $ US:





Alternatively we accept a money transfer to our bank account. Please contact for details: sales@sensorsportal.com



Download <here> the Library Journal Recommendation Form






1999 - 2012 Copyright , International Frequency Sensor Association (IFSA). All Rights Reserved.

Home - News - Links - Archives - Tools - Voltage-to-Frequency Converters - Standardization - Patents - Marketplace - Projects - Wish List - e-Shop - Sensor Jobs - Membership - Videos - Publishing - Site Map - Subscribe - Search

 Members Area -Sensors Portal -Training Courses - S&T Digest - For advertisers - Bookstore - Forums - Polls - Submit Press Release - Submit White Paper - Testimonies - Twitter - Facebook - LinkedIn