FIGURE 1.

1 SIMPLE INVERTED PENDULUM SYSTEM 8

FIGURE 1.2 MECHANICAL UNIT OF INVERTED PENDULUM 9
FIGURE 1.3 FEEDBACK OF DIGITAL PENDULUM CONTROL SYSTEM 10
FIGURE 1.4 SEGWAY PT 11
FIGURE 1.5 LAUNCHING PAD 12
FIGURE 2.1 SCHEMATICS OF THE INVERTED PENDULUM SYSTEM 14
FIGURE 2.2 FREE BODY DIAGRAM OF A CART 15
FIGURE 2.3 IMPULSE RESPONSE OF CART 40
FIGURE 2.4 IMPULSE RESPONSE OF ANGULAR DISPLACEMENT 40
FIGURE 2.5 STEP RESPONSE OF CART 41
FIGURE 2.6 STEP RESPONSE OF ANGULAR DISPLACEMENT 41
FIGURE 2.7 POLES AND ZEROS OF THE TRANSFER FUNCTION 42
FIGURE 3.2.1 P-CONTROLLER 43
FIGURE 3.2.2 PI-CONTROLLER 44
FIGURE 3.2.3 PID CONTROLLER 44
FIGURE 3.3 SIMULINK MODEL OF PID FOR INVERTED PENDULUM 47
FIGURE 3.4.1 PID REGULATION RESULTS FOR PENDULUM ANGLE 48
FIGURE 3.4.2 PID REGULATION RESULTS FOR CART POSITION 48
FIGURE 4.1 PLANT WITH STATE- VARAIBLE FEEDBACK 57
FIGURE 4.1.4.1 SIMULINK MODEL OF POLE PLACEMENT FOR INVERTED PENDULUM 57
FIGURE 4.3 SIMULATION OF CLOSED LOOP SYSTEM OF INVERTED PENDULUM For CART POSITION
58
FIGURE 4.4 SIMULATION OF CLOSED LOOP SYSTEM OF INVERTED PENDULUM FOR PENDULUM ANGLE
58
FIGURE 4.5 CLOSED LOOP OBSERVER SHOWING FEEDBACK ARRANGEMNT60
FIGURE 4.6 STATE-SPACE DESIGN CONFIGURATION 63
FIGURE 4.7 SIMULINK MODEL OF OBSERVER FOR INVERTED PENDULUM63
FIGURE 4.8 OBSERVER DESIGN RESULTS FOR CART POSITION 64
FIGURE 4.9 OBSERVER DESIGN RESULTS FOR CART VELOCITY 64
FIGURE 4.10 OBSERVER DESIGN RESULTS FOR PENDULUM ANGLE 65
FIGURE 4.11: OBSERVER DESIGN RESULTS FOR PENDULUM VELOCITY 65
FIGURE 4.12 OBSERVER DESIGN RESULTS FOR DIFFERENCE OF IP OUTPUT AND
ESTIMATED OUTPUT 66
FIGURE 4.13: Integral control for steady-state error design66
FIGURE 5.1 BLOCK DIAGRAM OF LQR FOR INVERTED PENDULUM 78
FIGURE 5.2 SIMULINK MODEL OF LQR FOR INVERTED PENDULUM 78
FIGURE 5.3 LQR RESULTS OF CART POSITION FOR INVERTED PENDULUM 79
FIGURE 5.4 LQR RESULTS OF PENDULUM ANGLE FOR INVERTED PENDULUM 80