Reduced Order Observer Based Pole Placement Design for Inverted Pendulum on Cart

Authors

  • Alemie Assefa Department of Electrical and Computer Engineering, Debre Berhan University, Debere Berhan, Ethiopia

DOI:

https://doi.org/10.54060/JIEEE/003.02.002

Keywords:

Inverted pendulum, Pole placement, State feedback, Reduced order, Euler-Lagrange

Abstract

The inverted pendulum is an under actuated system and unstable system without a con-troller. In this paper modelling of an inverted pendulum is done using the Eu-ler-Lagrange equation for stabilization of it. The controller gain is evaluated through state feedback and reduced-order observer design techniques and the result for the dif-ferent initial conditions is compared. The state feedback controller is designed by Pole- placement technique for different desired pole locations. The simulation of the inverted pendulum based on reduced order pole placement design has been done on MATLAB/SIMULINK. It has been observed from the simulation result that the angular velocity and cart speed tracks the system response for different initial conditions by var-ying the desired pole location for the left-hand plane of the s-plane. In general, if some of the systems are unknown and the other state is known we can design using a re-duced-order observer for any physical system.

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Published

2022-11-25

How to Cite

[1]
A. Assefa, “Reduced Order Observer Based Pole Placement Design for Inverted Pendulum on Cart”, J. Infor. Electr. Electron. Eng., vol. 3, no. 2, pp. 1–11, Nov. 2022.

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