Department of Electrical Engineering

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Browsing Department of Electrical Engineering by Author "Das, Kunal Kanti"

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    State feedback control & Sliding Mode Control of Rotary Inverted Pendulum
    (Department of Electrical Engineering, NITS, 2019) Das, Kunal Kanti
    Inverted pendulum system is a highly non-linear, unstable system as a result it is a challenging task for the control people to stabilize the system. The system is unstable without control, that is, the pendulum wills simply fall over if the pendulum arm isn’t rotate to balance it and naturally falls downward because of gravity. Thus, the inverted pendulum system is inherently unstable. Stabilization of Inverted Pendulum is defined as a very basic classical control problem in Control System. The Dynamics of Rotary Inverted Pendulum is related to many real life applications like missile launching system, balancing systems like human walking, Aircraft landing pad in sea etc. This is a highly unstable and non-linear system. This system is a under actuated system and also a non-minimum phase system so design a Controller for Inverted Pendulum System is very complex. This thesis includes system description of Inverted Pendulum System, Dynamics of the system, State space model, Derivation of Transfer Functions. In Past a lot of research work has already been done in Inverted Pendulum for development of Control Strategy. In this thesis the system is controlled by State feedback and sliding mode methods. By the help of state feedback method the rotary inverted pendulum is stabilize without any disturbance as the system is highly unstable state feedback method is not sufficient to stable the system even after giving any random disturbance. In the sliding mode method the system is try to stabilize by giving a random disturbance to the system. And there occurs a huge chattering which is very harmful for the system. To reduce the chattering super twisting method is used.