Control and Instrumentation Report: Rotary Inverted Pendulum Analysis

This report details the control and instrumentation of a rotary inverted pendulum system. It begins with an introduction to the system, including its components and applications, followed by a discussion of the mathematical modeling using free body diagrams and Laplace transforms. The report then presents the MATLAB Simulink design for both open-loop and closed-loop systems, including the linearization process around the pendulum angle. Different controllers are designed and implemented, such as LQR controllers, pre-compensators, and observers. Simulation results are provided to analyze system responses and controller performance. The report also includes an experimental section using LABVIEW to validate the simulation results. Finally, the report concludes with a summary of the findings and suggestions for future work, along with a list of references.