1 INTRODUCTION 7

1.1 INVERTED PENDULUM SYSTEM 7

1.2 SCOPE OF THE THESIS 10
1.3 PROBLEM STATEMENT 11
1.4 LITERATURE REVIEW 11
2 MATHEMATICAL MODELING AND ANALYSIS 13
2.1 MATHEMATICAL MODEL 13
2.1.1 LINEARIZATION MODEL 21
2.1.2 STATE SPACE 23
2.1.3 STATE SPACE USING JACOBIAN MATRIX 26
2.1.4 TRANSFER FUNCTION 37
2.2 ANALYSIS OF INVERTED PENDULUM SYSTEM 39
3 PID CONTROLLER 43
3.1 INTRODUCTION 43
3.2 PARAMETERS OF PID CONTROLLER 43
3.2.1 PROPORTIONAL RESPONSE 43
3.2.2 INTEGRAL RESPONSE 44
3.2.3 DERIVATIVE RESPONSE 44
3.3 TUNING OF PID CONTROLLE 45
3.3.1 HIT AND TRIAL METHOD 45
3.3.2 ZEIGLER-NICHOLS METHOD 45
3.4 PID CONTROL OF INVERTED PENDULUM 46
3.5 CONTROLLERS GAINS 47
3.6 BLOCK DIAGRAM OF PID FOR INVERTED PENDULUM: 47
3.6.1 SIMULINK MODEL OF PID FOR INVERTED PENDULUM 47
3.6.2 RESULTS 47
4 POLE PLACEMENT 49
4.1.1 INTRODUCTION 49
4.1.1STATE FEEDBACK 49
4.1.2 EIGENVALUES 49
4.1.3 OBSERVATION 50
4.1.4 IMPACT OF STATE FEEDBACK 50
4.1.2 ACKERMANNS APPROACH TO POLE PLACEMENT 50
4.1.2.1 CAYLEY-HAMILTON THEOREM 50
4.1.2.2 COROLLARY 51
4.1.3 CONTROLLABILITY FOR INVERTED PENDULUM 54
4.1.3.1 BLOCK DIAGRAM OF PLANT WITH STATE-VARIABLE FEEDBACK 57
4.1.3.2 SIMULINK DESIGN OF POLE PLACEMENT FOR INVERTED PENDULUM 57
4.1.3.3 RESULTS 58
4.2 OBSERVER DESIGN 59
4.2.1 OBSERVABILITY 61
4.2.2 OBSERVABILITY MATRIX 61
4.2.3 BLOCK DIAGRAM OF OBSERVER 63
4.2.3.1 SIMULINK MODEL OF OBSERVER 63
4.2.3.2 RESULTS 63
4.3 STEADY-STATE ERROR DESIGN VIA INTEGRAL CONTROL 66
4.3.1 INTEGRAL CONTROL 68
5 LINEAR QUADRATIC REGULATOR 76
5.1 INTRODUCTION 76
5.2 DESIGN LQR 77
5.3 BLOCK DIAGRAM OF LQR 78
5.3.1 SIMULINK MODEL OF LQR 78
5.3.2 RESULTS 79
6 CONCLUSION AND FUTURE WORK 55
7 REFERENCES 55
APPENDIX 55