This paper is designed for the purpose of analytic design and numerical simulation of a controller for nonlinear mobile inverted pendulum. It needs to obtain a method to overcome the difficulties in the design problem of controller for nonlinear plant. The method was using local stability analysis of two fixed points in two-dimensional ordinary nonlinear differential equation. The result provides a stable response solution using a special pole placement design, and transient stability is simulated using simulink. The response behavior can be selected according to the desired poles. The results obtained at this work are different from the optimal control problem. Indeed, our results have been summarized in the design method, target response and simulation process.
Sophisticated robots replace manual equipments that requires a lot of human power, one of which is the use of robotic arms. This robotic arm is part of a robot with a prototype scale. In this article task is designed a robot arm with 3 DOF that has a system controlled in the form of a robotic arm system that is overall controlled through an application interface built with programming language. Arduino Uno microcontroller as the main controller connected via Bluetooth with smartphone.
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