Multirate Output Feedback based Controllers for Nonlinear Inverted Pendulum System

Five modern control techniques are investigated for nonlinear inverted pendulum system

Multirate output feedback (MROF) techniques have
attracted the interest of many researchers for the design of
controller, as these methods are based on output feedback and
are at the same time capable of assigning arbitrary dynamical
characteristics to the closed loop system. Fast output sampling
(FOS) is a kind of MROF, in which the states of the system
can be computed from the output of the system. In program,
different techniques of FOS based controllers are investigated
for non-linear system of inverted pendulum (IP). Control laws
are designed using linear model of IP system. The first control
law is constructed based on past output observations. In second
control law, past output observations along with past input is
used for design purpose. However, in third case, discrete-time
sliding mode control (DSMC) in combination with FOS feedback,
presented in second control law, is formulated. Simulations
have been carried out using non-linear model of IP system
developed in MatLab/Simulink environment.