Design and Implementation of Control System for Inverted Pendulum
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Date
2012
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UMT Lahore
Abstract
The inverted pendulum is a classic control problem, which involves the development of balance the pendulum system. For display purposes, it is like trying to balance a broomstick on the finger. To study this problem, we have to take into account the experimental system which consists of a pendulum, which is free to rotate 360 degrees. This project involves the complete system including all mechanical hardware, software and design at minimal cost. Three major subsystems that make this design: (1) a mechanical system, (2) feedback network which includes sensors and methods for reading and (3) a driver and its interface with mechanical system. After determining a set of requirements between subsystems, each can be designed independently of the other two, simplifying the design process. We consider several models of stick-slip friction between the car and track and measure the parameters of the experimental friction.