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Design and development of a low-cost inverted pendulum for education

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Resumo:Automatic control is present in our daily lives, for example, in elevators, factories, or even toasters and cruise control. The aim of this project is to develop a controller to bal- ance a pendulum on top of a cart with the minimum possible deviation from the vertical position, a system which is often used to represent non-linear systems. To this end, the system was modeled, using Newton’s second law and Lagrange’s equations, in order to find the equations of motion. Then, using Matlab and Simulink, a digital model of the system was implemented, with the LQR, LQG and MPC controllers being tested sepa- rately. The two main steps in the process are reaching the vertical position and stabilizing the pendulum. In the final phase, a 3D printer was controlled, showing its potential as an implementation of the system.
Autores principais:Ferreira, Gonçalo Marques
Assunto:Inverted pendulum non linear control LQR Kalman filter MPC
Ano:2022
País:Portugal
Tipo de documento:dissertação de mestrado
Tipo de acesso:acesso aberto
Instituição associada:Universidade Nova de Lisboa
Idioma:inglês
Origem:Repositório Institucional da UNL

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