Model dan Kendali Modular pada Pendulum Terbalik tipe Rotary

Rotary Inverted Pendulum (RIP) is a physical system that often used as theoretical platform and application of non-linear, unstable, underactuated control systems so it poses challenge to design controls realize them. The mechanical construction the consists pendulum arm rotates horizontally on RIP base shaft vertical swings from downward position an upright equilibrium position. This paper presents model scheme for in modular manner, which three controller sections are constructed realized using Multibody Matlab. parts include: swing-up positive feedback Proportional Derivative controller, switching mode works change swing up into stabilization when reaches around its equilibrium, maintain balanced controller. trajectory motion 3D visualization presented Matlab show effectiveness applied method.