Control of two degree of freedom spatial inverted pendulum

Let's remember that when we were a little boy we tried to stabilize a stick or a rod within our catcher. In order to keep the bar stable in the upright position, we tried to keep it in the correct position. The problem of inverted pendulum is based on the same principle. Just like a rod, the inverted pendulum system has the same natural unstable dynamics. In order to stabilize the inverted pendulum in the upright position, forces must be applied to the mechanism which inverted pendulum is placed on and these forces must be precisely controlled. In this study, design, production and control of two degree of freedom spatial pendulum are studied. In the study which was carried out in three steps; The first step involves the design of a planar mechanism that will hold the inverted pendulum in balance, the second step is the production of this system, The last step involves the determination of the best control method to design and implement a controller that will balance the spatial inverted pendulum system around a certain point of operation. At the end of the study, SOSMC and LQG controllers were simulated using MATLAB software. Simulation results of the controllers were evaluated and suggestions were made about the method to be used in the real system. At the end of the study, it was observed that the SOSMC had more robust and more agile performance in the equilibrium of the spatial inverted pendulum, while it was observed that the LQG controller was better in terms of stability of the system and stability of the controller.