This paper deals with the control of an inverted pendulum.Balancing techniques are used in great many controlling problems.The inverted pendulum problem is often used as a benchmark.
The theoretical background is well-known and easy to treat.A commercially available Rexroth axis controller and a Wild Yam CKK compact module are used to control the input of the system, which is usually applied in industrial fields.A test bench has been designed and built.
A PLC based program has been developed to swing Fan Shop - Licensed Baseball - Clothing up the pendulum from the rest location to inverted position and LQR controller is designed to balance the system.