All Stabilizing State Feedback Controller for Inverted Pendulum Mechanism

Bitirgen R., Hancer M., Bayezit İ.

3rd IFAC Conference on Advances in Proportional-Integral-Derivative Control (PID), Ghent, Belgium, 9 - 11 May 2018, vol.51, pp.346-351 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 51
  • Doi Number: 10.1016/j.ifacol.2018.06.089
  • City: Ghent
  • Country: Belgium
  • Page Numbers: pp.346-351
  • Istanbul Technical University Affiliated: Yes


In the literature, finding all stabilizing controllers are widely studied. In this paper, a case study of inverted pendulum is considered to test the methods for finding stabilizing state feedback controller. First, good set of state feedback gain matrix is calculated, two of feedback parameters are fixed to reduce the computational cost. The other two of feedback parameters that make the system stable are then calculated by gridding. The boundary of the stability region is calculated with the frequency method. In order to have fast response, the eigenvalue region of the closed loop system is defined as the left hand side of the 1 + j omega line and the stability region for feedback gains are calculated for this scenario. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.