Control Of Practical Inverted Pendulum Using State-Feedback Control Scheme
The inverted pendulum controlling system consists of three main problems that always appear in control applications which are nonlinear system, unstable and non minimum behavior phase system. The objective of this project is to design and applied a State-Feedback Controller on practical based inv...
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| Format: | Monograph |
| Published: |
UTeM
2009
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| Online Access: | http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054975 http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054975 http://eprints.utem.edu.my/2880/1/Mohd_Zaini_Bin_Mohd_Ghazali_TJ223.P55.M93_2009-24_pages.pdf http://eprints.utem.edu.my/2880/2/Mohd_Zaini_Bin_Mohd_Ghazali_TJ223.P55.M93_2009.pdf |
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| Summary: | The inverted pendulum controlling system consists of three main problems that
always appear in control applications which are nonlinear system, unstable and non
minimum behavior phase system. The objective of this project is to design and
applied a State-Feedback Controller on practical based inverted pendulum. Here, the
pole-placement approach which is able in stabilizing the practical based inverted
pendulum at vertical position and at the same time placing a cart at desired position
will be designed. This controller will be implemented using Real-Time Windows
Target application. Firstly, the mathematical model of an inverted pendulum system
is synthesized. Then, the linearization technique will be applied to the nonlinear
model so that the design of the State-Feedback Controller can be accomplished. The
second stage involves analysis of simulation work and results. The final stage is
implementing the controller to the practical based inverted pendulum. The
performance test results is then presented and compared with simulation results
which will verify the successful design and implementation of the controller. The
simulation work is done using a MA TLAB/SIMULINK platform and the Advantech
PCI-1711 card is used as 1/0 devices to enable the interface with the practical based
inverted pendulum system. |
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