The inverted pendulum, a classical mechatronic application, exists in many different forms. In despite that many works have been done to balance the pendulum link on end of this device using feedback control but few studies have been developed to control this rotary inverted pendulum using PD controller. In classical methods, using PD, PI or PID control, difficulties appear due to one of the coefficients becomes zero in closed loop transfer function denominator and consequently the system becomes unstable. In this study, an arbitrary pole is placed in order to create a break point in root locus, so by this way a PD controller can be designed for this new system. Also, disturbance rejection has been investigated by state space method in this paper. The results of this modified PD controller are compared with full state feedback control and optimal control, so the method used in this study has been validated.
Modified PD Control of Rotary Inverted Pendulum
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Sepehry, N, & Shamshirsaz, M. "Modified PD Control of Rotary Inverted Pendulum." Proceedings of the ASME 2009 International Mechanical Engineering Congress and Exposition. Volume 10: Mechanical Systems and Control, Parts A and B. Lake Buena Vista, Florida, USA. November 13–19, 2009. pp. 1041-1047. ASME. https://doi.org/10.1115/IMECE2009-12500
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