Hamid Reza Mirghaderi - MSc from University of Kashan
Mohsen Irani - Faculty of electrical and mechanical, University of Kashan

Control of an inverted pendulum is one of the most interesting and classical problems for control engineering. The objective is design a controller which is capable of driving the pendulum from hanging-down position to upright position and then holding it there. Since this problem has two degrees of freedom and only one actuator therefore subject to non-linear behavior of the pendulum rotation. The experiment system consists of a vertical pendulum, a horizontal arm, an encoder and a servomotor. In this paper earns the differential equations of motion of the rotary inverted pendulum then linearization using the Lagrange method and results generalize the dynamics around the equilibrium point and obtain the system state-space model. Afterward using supervisory fuzzy control and LQR method, design follower appropriate controller for the above system and its performance, evaluate and compare with classical control

Rotary inverted pendulum, PID controller, Supervisory fuzzy control and LQR method