Date of Award


Degree Name

Master of Science


Electrical and Computer Engineering

First Advisor

Sayeh, Mohammad

Second Advisor

Tall, Issa


This thesis focuses on implementation of the swing-up, switching and stabilizing controllers for the rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H2/H∞; state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using dSPACE 1104 rapid prototyping system. Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip® is used as a standalone way to implement the controllers.




This thesis is only available for download to the SIUC community. Current SIUC affiliates may also access this paper off campus by searching Dissertations & Theses @ Southern Illinois University Carbondale from ProQuest. Others should contact the interlibrary loan department of your local library or contact ProQuest's Dissertation Express service.