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A Comparative study of controllers for stabilizing a Rotary Inverted Pendulum

A Comparative study of controllers for stabilizing a Rotary Inverted Pendulum
Velchuri Sirisha and Dr. Anjali. S. Junghare
Electrical Engineering Department, Visvesvaraya National Institute of Technology, Nagpur

Abstract
This paper describes comparative study of various controllers on Rotary Inverted Pendulum (RIP). PID, LQR, FUZZY LOGIC and H∞ controllers are tried on RIP in MatLab Simulink. The same four controllers have been tested on test bed of RIP system the controllers are compared from various aspects. The controllers in Simulink are compared with the controllers in real time.
Keywords
Fuzzy Logic, H∞, LQR, PID, RIP

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