Design and Comparison of Different Controllers to Stabilize a Rotary Inverted Pendulum

Kambhampati Tejaswi, Alluri Amarendra, Ganta Ramesh

Abstract: This paper describes the design procedures and design of various controllers for stabilizing a Rotary Inverted Pendulum System (RIPS). A PV (Position-Velocity) controller, LQR (Linear Quadratic Regulator) controller with different weighing matrices and an observer-based controller are tried on RIPS in MATLAB Simulink. The outputs obtained with different weighing matrices are observed and compared for different conclusions. The controllers with the best values obtained in the simulation are tested on a test-bed of RIPS and are compared for various aspects. The controllers in Simulink are compared with the controllers in real time.

Keywords: Rotary Inverted Pendulum, PV, LQR, Weighing Matrices, Observer-Based control.