Notice of Violation of IEEE Publication Principles: System Model and Controller Design of an Inverted Pendulum

Notice of Violation of IEEE Publication Principles

"System Model and Controller Design of an Inverted Pendulum"
by Baoping Xiao, Chang Xu, and Lijun Xu
in the Proceedings of the 2009 Second International Conference on Industrial and Information Systems, April 2009, pp 356-359

After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE's Publication Principles.

This paper is a near verbatim copy of the work cited below. The original text and figures were copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission.

Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article:

"The Inverted Pendulum"
by John Stang,
as a Student Project: ECE691, May 2005
http://instruct1.cit.cornell.edu/courses/eceprojectsland/STUDENTPROJ/2004to2005/jss67/index.html


The inverted pendulum is a classical control problem, which involves developing a system to balance a pendulum. For visualization purposes, this is similar to trying to balance a broomstick on a finger. There are three main subsystems that compose this design including the mechanical system, the feedback network which includes sensors and a method to read them, and a controller and its interface to the mechanical system. The system model, state space representation and controller design is described, the model is converted into state space form, and is used to design a controller using the Linear Quadratic Regulator (LQR) cost equation. The final system results in a cart that could balance a pendulum for a limited amount of time. This was due to many imperfections in the mechanical system and the inability to model the dynamics of these imperfections along with the calculation limitations of the Atmel Mega32.