Title :
An alternative inverted pendulum apparatus for education
Author :
Chrisman, Karl ; Vagners, Juris
Author_Institution :
Dept. of Mech. Eng., Washington Univ., Seattle, WA, USA
Abstract :
This paper presents the design of an alternative inverted pendulum apparatus for use in education and research programs in control systems engineering. The hardware system is described and the nonlinear model is derived. Applicability of the system to illustrate a wide range of control problems is discussed. Simulation and experimental results for some representative control tasks are given to demonstrate a typical application of a gain scheduled LQR controller
Keywords :
control engineering education; control system synthesis; linear quadratic control; nonlinear systems; pendulums; control systems engineering; education; gain scheduled LQR controller; inverted pendulum apparatus; linear quadratic control; nonlinear model; Aerodynamics; Artificial neural networks; Control engineering education; Control systems; Educational programs; Fuzzy logic; Laboratories; Manipulators; Motion control; Nonlinear dynamical systems;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529310
