State-space control applied to the balance of a linear inverted pendulum

García Pérez H.G.; Chávez Acuña C.A.; Manzano Ramos E.A. · Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology (2024) · DOI: 10.18687/laccei2024.1.1.1985

Resumen

The present document includes the development and implementation of a linear inverted pendulum, along with an exploration of various control methodologies applied to inverted pendulums to evaluate their effectiveness in stabilizing the system under different conditions and disturbances.A state-space controller was designed specifically for the linear inverted pendulum system.Transmission was achieved using a belt and pulley DC motor, and an encoder was incorporated into the carriage rod to measure the pendulum's angular position.The pendulum was successfully controlled within a short period of time.Results are based on pole analysis and the successful implementation of a pole-placement controller in a physical inverted pendulum system.This work integrates concepts of electronics and control of unstable systems to achieve an implemented system that operates via pole-placement control.

Instituciones: Universidad Nacional de Trujillo