Control Of The Unbalanced System Of The Reversed Pendulum By Exercising The Polynomial Detain

Abstract

This paper deals with the design of feedback control system for the unstable nonlinear system of the reversed pendulum using the polynomial approach. The resultant controllers enable stabilization of the pendulum rod in the unstable top position. Spectral factorization techniques together with the pole-placement method are utilized for the controller design and robust vs. non-robust setting of the tuning poles is presented and discussed.