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Title: Stability Analysis and Optimum Controller Design for an Inverted Pendulum on Cart System
Authors: Karahan, M.
Kasnakoglu, C.
Keywords: mathematical model
PID controller
poles and zeros
position control
transfer functions
Convergence of numerical methods
Impulse response
Inverted pendulum
Nonlinear systems
Position control
Root loci
Three term control systems
Analysis and controls
Cart system
Controller designs
Inverted pendulum
Non-linear modelling
Optimum controllers
PID controllers
Pole and zero
Stability analyze
Stability control
Issue Date: 2022
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: Stability analysis and control of the inverted pendulum on cart system is an important problem that has been investigated by many researchers in recent years. In this study, nonlinear modeling of the inverted pendulum on cart system is derived and free body diagram is explained. Then, the nonlinear model of the system is created in MATLAB program. In order to keep the pendulum on cart in balance, different types of controllers were designed, and stability analysis was performed by drawing root-locus curves for different controllers. The optimum controller design was obtained to keep the pendulum in balance. The impulse response of the system has been simulated and it has been proven that the designed optimum controller keeps the pendulum in balance. © 2022 IEEE.
Description: 2022 International Conference on Smart Information Systems and Technologies, SIST 2022 -- 28 April 2022 through 30 April 2022 -- 184566
ISBN: 9.78E+12
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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