A simple device and a project for the nonlinear control systems laboratory

Author

Giron-Sierra, Jose Maria

Author_Institution

Dept. Arquitectura de Comput. y Autom., Univ. Complutense de Madrid, Spain

Volume

44

Issue

2

fYear

2001

fDate

5/1/2001 12:00:00 AM

Firstpage

144

Lastpage

150

Abstract

This paper describes a new inverted pendulum system that is useful to illustrate important aspects of nonlinear control systems theory. The stabilization of the pendulum is to be achieved by the on-off action of two electromagnets; therefore, an adequate switching policy has to be applied. The pendulum can be controlled by a computer, using simple electronic interface circuits. This paper considers first an example from literature that suggests some design principles about the new system. Second, there is a detailed description of the pendulum. Finally, the use of the system in a student´s project is presented. The experimental device is easy to build, inexpensive, and has good pedagogical impact

Keywords

control engineering education; control system analysis; electromagnets; nonlinear control systems; pendulums; stability; switching; automatic control teaching; computer control; design principles; electromagnets; electronic interface circuits; inverted pendulum system; nonlinear control systems laboratory; nonlinear control systems theory; pedagogical impact; pendulum stabilization; student project; switching policy; Automatic control; Circuits; Computer interfaces; Control systems; Education; Electromagnets; Equations; Laboratories; Nonlinear control systems; Satellites;

fLanguage

English

Journal_Title

Education, IEEE Transactions on

Publisher

ieee

ISSN

0018-9359

Type

jour

DOI

10.1109/13.925817

Filename

925817