Non-linear Control of Inverted Pendulum

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dc.contributor.authorCoşkun, Serdar
dc.date.accessioned2025-03-17T12:19:55Z
dc.date.available2025-03-17T12:19:55Z
dc.date.issued2020
dc.departmentTarsus Üniversitesi
dc.description.abstractPresented is a study of non-linear control for an inverted pendulum system. The inverted pendulumsystem is a great example of an underactuated, non-minimum phase, and highly unstable system. Theobjective of this research paper is to derive non-linear control laws for an inverted pendulum system.First, dynamic equations of the inverted pendulum are derived by utilizing the Lagrange's equations andthen it is linearized around an unstable upright position. Secondly, the corresponding analysis uses thestandard linear stability arguments and the traditional Lyapunov method. The non-linear sliding modecontrol and feedback linearization control laws are then derived The feedback linearization control law isused to transform the non-linear system into an equivalent linear system such that a suitable feedbackcontrol law can be proposed. The stabilization of the initial condition and reference tracking is studied inthis paper. I demonstrate the effectiveness of the proposed non-linear control strategies usingMATLAB/Simulink software
dc.identifier.endpage38
dc.identifier.issn1019-1011
dc.identifier.issue1
dc.identifier.startpage27
dc.identifier.trdizinid425248
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/425248
dc.identifier.urihttps://hdl.handle.net/20.500.13099/1281
dc.identifier.volume35
dc.indekslendigikaynakTR-Dizin
dc.institutionauthorCoşkun, Serdar
dc.language.isoen
dc.relation.ispartofÇukurova Üniversitesi Mühendislik-Mimarlik Fakültesi Dergisi
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_TR_20250316
dc.subjectFizik
dc.subjectUygulamalı
dc.titleNon-linear Control of Inverted Pendulum
dc.typeArticle

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