2.1.

1 Linearization model
2.1.2 State Space
2.1.3 State space using Jacobian matrix
2.1.3 Transfer Function
2.2 Analysis of inverted pendulum system
Pole Placement
3.1 Introduction
3.1.1.1 State feedback:
3.1.1.2 Eigenvalues
3.1.1.3 Observation:
3.1.1.4 Impact of state feedback:
3.1.2 Ackermanns approach to pole placement:
3.1.2.1 Cayley-Hamilton theorem:
3.1.2.2 Corollary:
3.1.3 Controllability For Inverted Pendulum:
3.1.4 Block Diagram of Plant With State-Variable Feedback
3.1.4.1 Simulink Design of Pole Placement For Inverted Pendulum
3.1.4.2 Results
3.2 OBSERVER DESIGN:
3.2.1 Observability:
3.2.1.1 Observability Matrix:
3.2.3 Block Diagram of Observer
3.2.3.1 Simulink model of Observer
3.2.3.2 Results
3.3 Steady-state Error Design via Integral Control
3.3.1 INTEGRAL CONTROL:
Linear Quadratic Regulator
4.1 Introduction
4.2 Design LQR[1]:
4.3 Block Diagram of LQR
4.3.1 Simulink Model of LQR
4.3.2 Results
3.1 Introduction
3.2 Parameters of PID Controller
3.2.1 Proportional Response
3.2.2 Integral Response :
3.2.3 Derivative Response :
3.3 Tuning of PID Controller :
3.3.1 Hit and Trial Method:
3.3.2 Zeigler-Nichols Method:
3.4 PID Control of Inverted Pendulum