Title :
MATLAB, LabVIEW and FPGA linear control of an inverted pendulum
Author :
Han, Y. ; Tzoneva, R. ; Behardien, S.
Abstract :
Linearized model, pole placement and LQR linear controllers are derived for the inverted pendulum bytronic plant. Investigation of the real-time controller implementation using different PC (MATLAB/LabVIEW) and field programmable gate array (FPGA) CompactRIO (cRIO) platforms is done to prove and verify the FPGA capabilities in real-time control. The dynamic behaviour of the inverted pendulum under the same control, realized by the above various real-time platforms is obtained to be identical.
Keywords :
control engineering computing; field programmable gate arrays; linear quadratic control; linear systems; mathematics computing; nonlinear control systems; pendulums; pole assignment; CompactRIO; FPGA linear control; LQR linear controllers; LabVIEW; MATLAB; bytronic plant; field programmable gate array; inverted pendulum; linearized model; pole placement; real-time controller implementation; Belts; Control systems; Field programmable gate arrays; Linear feedback control systems; MATLAB; Mathematical model; Real time systems; Regulators; Servomotors; State feedback; Inverted pendulum; LQR controller; cRIO Real-Time control; pole-placement controller;
Conference_Titel :
AFRICON 2007
Conference_Location :
Windhoek
Print_ISBN :
978-1-4244-0987-7
Electronic_ISBN :
978-1-4244-0987-7
DOI :
10.1109/AFRCON.2007.4401454
