Stabilization at upright equilibrium position of rotary inverted pendulum using particle swarms with constrained optimization

Actuators and Manipulators either robotic or mechatronic require controllers which are very accurate and fast. The rotary inverted pendulum has been an under actuated system classified as a potential model in the category of advanced research problems. In this paper, a method is proposed for stabilization of a rotary inverted pendulum using full state feedback controller based modified particle swarm optimization with constraints on settling time, peak time and peak overshoot. The method paves way to advanced signal processing techniques for design and control of complex dynamic systems.