E ISSN: 2583-049X

International Journal of Advanced Multidisciplinary Research and Studies

Volume 3, Issue 4, 2023

A New Method to Stabilize and Swing up of Inverted Pendulum by Utilizing Different Approaches

Author(s): Zuhair Shakor Mahmood


This paper introduces a simplified methodology for tackling the control problem that arises in the context of the rotating inverted pendulum. The rotating inverted pendulum (RIP) is a complex system that has attracted considerable interest in several academic disciplines due to its complicated structure and nonlinear properties. The control approach may be decomposed into two distinct subproblems. The first subproblem pertains to the management of the pendulum's swing-up, which is achieved by the use of a PD cascade approach. The second subproblem concerns the implementation of a fuzzy-PD regulator for the purpose of balancing and stabilizing the whole system. The transition between these subproblems is also considered. The simulation and analysis of the plant, swing-up control, and stabilizing system are conducted inside the computational framework of Matlab/Simulink.

Keywords: Rotating Inverted Pendulum, Fuzzy-PD, Nonlinear Properties, PD Cascade Approach

Pages: 1084-1089

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