Asst professor from department of control and systems engineering has been published the a search in about the Controller for Rotary Inverted    Pendulum

Asst Prof Dr.  "  Hazem Ibrahim Ali  " who is chairman of the control branch in the department of control and systems engineering and cooperating with Asst lecturer " Rasha Muhammed  Naji" who is teaching at the control and systems of department the search in magazine for engeneering and technology as titled is   :

Optimal and Robust Tuning of State Feedback Controller for Rotary Inverted Pendulum

This paper presents the design and implementation of optimal and robust state feedback controller for rotary inverted pendulum system. The Particle Swarm Optimization (PSO) method is used to find the optimal values of the state feedback gains subject to time response specifications and constraints. To improve the tracking of the system, a robust state feedback plus integral controller is designed. The simulation results show that the proposed controller can effectively stabilize the pendulum at the upright position. Further, the proposed controller can compensate the variations in system parameters. The effectiveness of the proposed controller is verified experimentally using real rotary inverted pendulum.