Rotational inverted pendulum: a new control experiment

Author

Misawa, Eduardo A. ; Arrington, Michael S. ; Ledgerwood, Terry D.

Author_Institution

School of Mech. & Aerosp. Eng., Stillwater, OK, USA

Volume

1

fYear

1995

fDate

21-23 Jun 1995

Firstpage

29

Abstract

This paper addresses the issue of the need for low-cost challenging experiments by suggesting a new type of inverted pendulum referred to as the “rotational inverted pendulum” (RIP). The complete experimental setup for the low-cost RIP is described, including the mechanical and electrical hardware as well as the software interface. The system is mathematically modeled, and the results of the simulation are presented. Experimental results compare two controllers, a linear quadratic regulator and a fuzzy knowledge based controller. The use of this apparatus in both undergraduate and graduate courses is described and discussed

Keywords

control engineering education; fuzzy control; intelligent control; laboratories; linear quadratic control; pendulums; simulation; electrical hardware; experimental setup; fuzzy knowledge based controller; linear quadratic regulator; low-cost experiments; mechanical hardware; rotational inverted pendulum; simulation; software interface; Automatic control; Control systems; Costs; Data engineering; Education; Hardware; Laboratories; Nonlinear control systems; Open loop systems; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.529201

Filename

529201