Stabilization of Real Inverted Pendulum Using Pole Separation Factor

Abstract

Based on the pole placement design technique, a full state feed back controller using separation factor is proposed to stabilize a real single inverted pendulum. The strategy is to start with selection two dominant poles that achieve a certain desired performance, using a separation factor between the selected dominant poles and the other poles to eliminate their effect on the system performance, and finally Ackermann's formula can be used to calculate the feed back gain matrix to place the system poles at the desired locations. Simulation and experimental results demonstrate the effectiveness of the proposed controller, which offers an excellent stabilizing and also ability to overcome the external resistance acting on the pendulum system.