Title :
A DSP microprocessor hybrid control of an inverted pendulum
Author :
Li, Ho-Lung ; Chang, Bor-Chin ; Jagadish, Chirag ; Kwatny, Harry G.
Author_Institution :
Mech. Eng. Dept., Drexel Univ., Philadelphia, PA, USA
Abstract :
A hybrid control system implemented in the DSP microprocessor TMS320F2812 is designed to globally stabilize the system for all possible initial conditions. A set of design guidelines for swing-up control and supervisory coordination has been employed in the simulation and real-time experiment. The simulation results and the real-time performance graphs are also presented.
Keywords :
digital signal processing chips; nonlinear systems; pendulums; DSP microprocessor; TMS320F2812; hybrid control; inverted pendulum; real-time performance graphs; supervisory coordination; swing-up control; Automatic control; Brushless DC motors; Control systems; Digital signal processing; Instruments; Linear feedback control systems; Mechanical engineering; Microprocessors; Pulse width modulation; Sliding mode control;
Conference_Titel :
Control and Automation, 2009. ICCA 2009. IEEE International Conference on
Conference_Location :
Christchurch
Print_ISBN :
978-1-4244-4706-0
Electronic_ISBN :
978-1-4244-4707-7
DOI :
10.1109/ICCA.2009.5410393
