Observer Based Controller Design for Inverted Pendulum System

An inverted pendulum system is an inherently unstable and possess highly non-linear behavior, it is tested and used for validation for several control algorithm, it is having one control input and two degrees of freedom. In this paper, detailed mathematical modeling of such system is discussed. State space model is then analyzed for stability parameter such as peak overshoot, damping ratio, settling time etc. Pole placement method is applied for controller design using Ackermann’s formula as all system states, is not measurable. On comparing the real state with their estimated values, the controller is validated for various dynamic response characteristics.