Research Article Open Access

Real-Time Optimal Control for Rotary Inverted Pendulum

Viroch Sukontanakarn1 and Manukid Parnichkun1
  • 1 ,
American Journal of Applied Sciences
Volume 6 No. 6, 2009, 1106-1115


Submitted On: 31 December 2008 Published On: 30 June 2009

How to Cite: Sukontanakarn, V. & Parnichkun, M. (2009). Real-Time Optimal Control for Rotary Inverted Pendulum. American Journal of Applied Sciences, 6(6), 1106-1115.


Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller algorithm for self-erecting and balancing of a rotary inverted pendulum. Approach: Research shown a convenient way to implement a real-time control in self-erecting a pendulum from downward position and balancing the pendulum in vertical-upright position. An Energy based on PD controller was applied in self-erecting of the pendulum while LQR controller was applied to balance the pendulum. Results: Results of both control techniques from computer simulation and experiment were given to show the effectiveness of these controllers. Conclusion: Both simulations and experiments were confirmed the control efficiency of the method.

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  • Real-time control
  • linear quadratic regulator controller
  • energy based on PD controller
  • balancing
  • self-erecting