Three Degree of Freedom Control of Inverted Pendulum by using Repulsive Magnetic Levitation 1

Abstract: An inverted pendulum is a pendulum which has its mass above its pivot point. Inverted Pendulum is a classical problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms (PID controllers, neural networks, fuzzy control, genetic algorithms etc.). Variations on this problem include multiple links allowing the motion of the cart to be commanded while maintaining the pendulum and balancing the cart- pendulum system on see- saw. The inverted pendulum is related to rocket or missile guidance, where the centre of gravity is located behind the canter of drag causing aerodynamic instability. The understanding of similar problem can be shown by balancing an upturned broomstick on the end of one’s finger is a simple demonstration and the problem is solved in the technology of the seaway Position, self balancing transportation device. So, here the entire above problem can be solved by using levitation system. In this levitation system three magnets are used in equilateral triangle for giving the force to inverted pendulum in 3-dimension for balancing the pendulum. Index Terms- Inverted pendulum, Repulsive Magnetic Levitation, centre of gravit