Furuta Pendulum Prototype Control: PID and State Feedback

Baltazar C.; Gonzales R.; Manzano E. · 2024 IEEE URUCON, URUCON 2024 (2024) · DOI: 10.1109/urucon63440.2024.10850206

Resumen

This paper focuses on implementing and controlling the Furuta inverted pendulum at the School of Mechatronic Engineering, National University of Trujillo (UNT). It explores PID, Pole Placement Method (PPM), and Linear Quadratic Regulator (LQR) control methods to stabilize the system against external disturbances. The study highlights the use of state-space equations for accurate modeling of nonlinear systems like the Furuta pendulum. Comparative simulations among PID, PPM, and LQR show different approaches and performances in system control. This prototype serves as a promising tool for researchers in control-related fields and as educational support in control laboratories.

Instituciones: Universidad Nacional de Trujillo