Design of State Feedback Observer based on Kharitnov Polynomial for Rotary Inverted Pendulum

Conference: Creative Trends in Engineering and Technology
Author(s): Jim George, Gylson Thomas Year: 2016
Grenze ID: 02.CTET.2016.1.504_2 Page: 343-351


Rotary Inverted Pendulum is a nonlinear, dynamic unstable system. The key idea is to design a state feedback\nobserver to stabilize the position of pendulum in inverted position which is mounted on a rotary base which is the\nstabilization point of the system. This paper deals with mathematical modeling, design of full order state feedback controller\nand case study with pole placement based design.


CTET - 2016