Control strategies of an inverted pendulum.

In a space booster on takeoff, a control system must be employed to prevent the rocket from falling over as it is forced upward by the engines. One accurate dynamic model of the space booster on takeoff is the inverted pendulum. This paper investigated the inverted pendulum system from development of equations of motion, through implementation of an actual inverted pendulum system using state variable feedback control. The concept of state variable feedback was analyzed in determining a solution to the problem of control of the inverted pendulum. Most importantly, design and construction of a working, solid state controlled, inverted pendulum demonstration model was accomplished.
http://archive.org/details/controlstrategie1094520475
Lieutenant Commander, United States Navy
Approved for public release; distribution is unlimited.