Title :
Low cost implementation of a inverted pendulum control system
Author :
Neder Lazarini, Adalberto Zanatta ; de Souza Ribeiro, Jean Marcos ; Calori Jorgetto, Marcus Felipe
Author_Institution :
Dept. of Electr. Eng., Sao Paulo State Univ. (UNESP), Ilha Solteira, Brazil
Abstract :
Motivated by the need of testing control strategies, where students can observe the importance of practical test in control theories, and the high price of testing platforms, this study target the classic inverted pendulum control system construction and implementation using wasted components from printers and hard drives, electronic components and an open source microcontroller, resulting in a low cost didactic plant, that not only can be used by graduate students, but even for high-level control theories. In this paper, method of modern control by placement poles with help Ackerman´s method is presented.
Keywords :
control system analysis computing; microcontrollers; nonlinear control systems; pendulums; pole assignment; public domain software; Ackerman method; classic inverted pendulum control system construction; control strategy testing; control theories; electronic components; graduate students; hard drives; high-level control theories; low cost didactic plant; low cost implementation; open source microcontroller; placement poles; printers; testing platforms; wasted components; Control systems; Control theory; DC motors; Mathematical model; Printers; Testing; Transfer functions;
Conference_Titel :
Industry Applications (INDUSCON), 2014 11th IEEE/IAS International Conference on
Print_ISBN :
978-1-4799-5550-3
DOI :
10.1109/INDUSCON.2014.7059467
