Inverted pendulum thesis


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The system is non linear but can be linearised around the equilibrium point that we want to maintain, which is a good approximation for small angles.

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This thesis describes the electrical and mechanical components used to build a rotary inverted pendulum and how to produce an effective controller in detail. Detta examensarbete kommer i huvudsak handla om hur man konstruerar en regulator genom simulering samt analys av systemet.


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Please wait English Svenska Norsk. Controller Analysis with Inverted Pendulum.

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Animation will be implemented on the game engine Unreal Engine 4, supported by Epic Games. Computer software system 3Ds Max, further developed by Autodesk, will be used to convert the three-dimensional model. In the course of this work author is going to give sight of all the above programs and describe the main problems of construction, converting and implementation of the current model.

The controller consists of an inner loop with a PID controller and an outer loop and utilizes dynamic inversion with gain scheduling that uses the predicted active vibrational mode to apply a gain to the error to properly control the vehicle.

Linear quadratic regulator (LQR) controller design for inverted pendulum

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