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Title: Swing up and Stabilization Control Experiments for a Rotary Inverted Pendulum- An Educational Comparison
Authors: Özbek, Necdet Sinan
Efe, Mehmet Önder
Keywords: Rotary inverted pendulum
fuzzy logic
sliding mode control
Issue Date: 2010
Publisher: IEEE
Source: IEEE International Conference on Systems, Man and Cybernetics -- OCT 10-13, 2010 -- Istanbul, TURKEY
Series/Report no.: IEEE International Conference on Systems Man and Cybernetics Conference Proceedings
Abstract: This paper focuses on the swing up and stabilization control of a rotary inverted pendulum system with linear quadratic regulator (LQR), sliding mode control (SMC) and fuzzy logic control (FLC). The inverted pendulum, a popular control application exists in several forms and due to its widespread use for prototyping control schemes we present experimental results obtained on a rotary version of the pendulum. The paper develops the dynamical model and introduces the implementation of the considered schemes comparatively.
ISBN: 9781424465880
ISSN: 1062-922X
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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