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International Journal Of Engineering And Management Research
Year : 2022, Volume : 12, Issue : 4
First page : ( 99) Last page : ( 113)
Print ISSN : 2394-6962. Online ISSN : 2250-0758.
Article DOI : 10.31033/ijemr.12.4.14

Advanced control strategies for rotary double inverted pendulum

Ananthan Susheel Sriram*

Graduate, Department of Instrumentation and Control Engineering, National Institute of Technology, Tiruchirappalli, India

*Corresponding Author: susheel_official@yahoo.com ORCID: 0000-0002-6950-8844

Online Published on 12 October, 2022.


This paper presents the stabilization control of the rotational double inverted pendulum system. It is generally a non-linear, non-minimum phase, unstable, and underactuated system of high order. It has some significant real-life applications such as position control, aerospace vehicle control, and robotics. The objective is to determine the control law to the motor's output torque such that the inverted pendulum motion will be stabilized about a vertical axis and position the rotary arm to a commanded angular position. In this study, multi-PID controllers, Linear-Quadratic Regulator (LQR), and Internal Model Control (IMC) controllers are designed and MATLAB-based simulations are performed to understand and compare the performance of the three control schemes.



RDIP System, Linear Quadratic Regulator, PID, Internal Model Control, Non-Minimum Phase.


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