Control of inverted pendulum laboratory process using pole placement controller

Još od druge polovice prošlog stoljeća, sustav obrnutog njihala predstavlja važan referentni model u području teorije upravljanja. Kao nelinearan i nestabilan sustav omogućava implementaciju raznih metoda upravljanja s ciljem balansiranja njihala u ravnotežnom stanju. U ovom radu korištena je metoda postavljanja polova zatvorenog sustava pomoću povratne veze. Nakon realizacije ove metode, sustav upravljanja je nadograđen estimatorom stanja uz pretpostavku da neke od veličina stanja sustava nije moguće izmjeriti. Sustav upravljanja sintetiziran na ovaj način naziva se linearni kvadratni Gaussov kontroler. Njegovo glavno svojstvo je da je on idealni kontroler za sustave s niskim stupnjem smetnji i šumova, kao što je u ovom primjeru obrnutog njihala postavljenog u laboratorijskim uvjetima.Since the second half of the last century, inverted pendulum system represents an important benchmark in control theory. As a nonlinear and unstable system, it allows various methods of control to be implemented on itself with the goal of balancing the pendulum to its equilibrium position. Method that was used for this paper is the method of closed-loop pole placement using feedback control. After the realization of this method, the control system was upgraded with a full-state estimator, with the assumption that some of the state values could not be measured. A control system synthesized this way is called a linear quadratic Gaussian controller. Its main feature is that it is the ideal controller for systems with low disturbance and noise rate, like in this example of an inverted pendulum placed in laboratory conditions