This paper describes comparative study of various controllers on Rotary Inverted Pendulum (RIP). PID, LQR, FUZZY LOGIC and H∞ controllers are tried on RIP in MatLab Simulink. The same four controllers have been tested on test bed of RIP system the controllers are compared from various aspects. The controllers in simulink are compared with the controllers in real time.

Control of Rotary Inverted Pendulum (RIP) is a classic control problem. It represents a broader class of underactuated systems. The dynamical equations of RIP are nonlinear coupled and complex. The nonlinear feature and the complex internal dynamics makes the design of the control challenging. This paper presents swing up and stabilization both via sliding modes. Tracking control of rotary actu...

This paper presents an approach for the swing up and stabilization of a rotary inverted pendulum (RIP). RIP system is an unstable, multi-variable, under actuated and highly nonlinear in nature. RIP consists of a pivot arm, the pivot arm rotates in a horizontal plane by means of a servo motor. The opposite end of the arm is attached to the pendulum rod whose axis is along the radial direction of...

This paper aims at the applications of natural frequency of inverted pendulum and Takagi-Sugeno (TS) fuzzy control in the swing up and stabilization of Rotary inverted pendulum (RIP) respectively. RIP is one of the important multivariable system in control to test the performance of any controller due to its nonlinear, unstable, non-minimum phase and under actuated nature. Many techniques based...

This paper presents the design of optimal controller for nonlinear Rotary Inverted Pendulum (RIP) dynamic system using Linear Quadratic Regulator (LQR). LQR, an optimal control technique is generally used for control of the linear dynamical systems, have been used in this paper to control the non linear dynamical system. The non linear system states are fed to LQR which is designed using linear...

_ Inverted pendulum control is one of the fundamental and interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. Nonlinear model of the rotary inverted pendulum and linear model (Upright) in the neighborhood of an equilibrium state are descri...

this paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. our rotary inverted pendulum is supported bya pivot arm. the pivot arm rotates in a horizontal plane by means of a servomotor. the opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. a pendulum is suspended at thejoint. the task is to design a contro...

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 pre...

In this paper, Swing-up and Stabilization of the Rotary inverted pendulum (RIP) is done through the fuzzy controller.The attraction of this paper is achieving the above stated aim through lesser number of rules. RIP is highly unstable and nonlinear in nature, so stabilization of the RIP is itself a challenging task. Swing-up mechanism in RIP is a type of unstable mechanism which is done effecti...

The purpose of this paper is to present the design of a complete control strategy for the classical and rotary single inverted pendulum system. The design, which involves swing-up and stabilization of both systems, is based on function blocks and GUI tools from the Inverted Pendula Modeling and Control, a Simulink block library developed by the author of the paper. Keywords—classical single inv...