Ben Hazem, ZiedBingul, Zafer2024-06-132024-06-132022979-8-3503-3162-210.1109/ICTACSE50438.2022.100096482-s2.0-85147091161https://doi.org/10.1109/ICTACSE50438.2022.10009648https://hdl.handle.net/11501/12935th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE) -- SEP 29-OCT 01, 2022 -- Istanbul, TURKEYSingle link rotary inverted pendulum (SLRIP) is a highly nonlinear control system that has complex dynamic behavior. This type of system requires a high-performance controller for its control. The rotary pendulum system is present as a control problem challenge because the system often moves to an uncontrolled state. The problem consists to balance one or more attached pendulums vertically in the upward position on a rotational arm which has a single degree of freedom and turns horizontally on only one axis. The aim is to find a control strategy that provides accurate performance with respect to the angles of the pendulums and the horizontal arm. This paper proposes a study of a PID, Linear Quadratic Regulator (LQR) stabilization control, and swing-up linear control based on LQR. The gains of the PID and LQR controllers are optimized by using the particle swarm optimization (PSO) algorithm to provide more robust controllers. A dynamic mechanical simulation study was conducted on MATLAB/SimMechanics obtained by the designed 3D-CAD models of the SLRIP. According to experimental results, the systems demonstrate the efficiency and robustness of all controllers.eninfo:eu-repo/semantics/closedAccessSingle Link Rotary Inverted Pendulum (Slrip)PidLqrStabilization ControlSwing Up ControlPsoInverted PendulumLqrConference Object65N/A60WOS:000932842500010N/A