Development and stabilization control of rotary inverted pendulum with three-phase motor

Abstract

The Rotary Inverted Pendulum System (RIPS) is a familiar underactuated robot arm system, has a simple mechanical structure, and is applied to test and evaluate solutions. control engineering in the field of control engineering. Most previous studies have designed and stably controlled the RIPS system with DC servo motors. However, in this study, the author builds a RIPS system with a three-phase motor (TPM) and stabilizes the system with a controller combining LQR and a sliding mode observer. -SMO). This research was conducted using Matlab/Simulink software. Simulation results are presented in detail in this paper to demonstrate controllability when using three-phase motors for the RIPS system.