Design and Performance Analysis of the Robust Controller for Inverted Pendulum Systems
Date Issued
2012
Date
2012
Author(s)
Chen, Chia-Hui
Abstract
This thesis discusses two kinds of rotational inverted pendulum systems: Furuta and Pendubot systems. First, we derive the dynamics of these systems, and compare them with the SimMechanics and AutoSim models for verification. Second, we use the software to build the complex models of multi-pendulum systems for controller design. Third, we design the swing-up controller and balance controllers (LQR, Pole placement,Robust, fixed-order robust control.) for these systems. Lastly, we implemented the designed controllers on a PC-based system to verify system performance. In addition, we also use a micro-chip system for system miniaturization and cost reduction. Based on the results, the proposed systems are deemed effective.
Subjects
Inverted pendulum
Furuta
Pendubot
H-infinity control
balance control
Type
thesis
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