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Control of an Inverted Pendulum (Pendubot)

Kwapisz, Michael (2005) In MSc Theses
Department of Automatic Control
Abstract
The aim of this project is to control a double linked inverted pendulum called the "Pendubot". A cascade control scheme has been developed at Laboratoire d'Automatique (EPFL) for this purpose. The structure of the cascade scheme is: Input-output feedback linearization and a linear controller in the inner-loop to assure the control of the fi-angle, the outer loop is responsible for stabilizing the psi-angle. The whole idea is to make the inner loop much faster than the outer so to separate the system and to allow to control the fi and the psi angle separately, This so called timescale separation is necessary for the cascade schemes efficiency. This speed difference between the loops is accomplished by the linear controller. In the... (More)
The aim of this project is to control a double linked inverted pendulum called the "Pendubot". A cascade control scheme has been developed at Laboratoire d'Automatique (EPFL) for this purpose. The structure of the cascade scheme is: Input-output feedback linearization and a linear controller in the inner-loop to assure the control of the fi-angle, the outer loop is responsible for stabilizing the psi-angle. The whole idea is to make the inner loop much faster than the outer so to separate the system and to allow to control the fi and the psi angle separately, This so called timescale separation is necessary for the cascade schemes efficiency. This speed difference between the loops is accomplished by the linear controller. In the outer-loop three different types of controllers will be implemented: a PD-structured controller, a non-linear controller and a Model Predictive controller (MPC). (Less)
Please use this url to cite or link to this publication:
author
Kwapisz, Michael
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5735
ISSN
0280-5316
language
English
id
8847894
date added to LUP
2016-03-18 10:02:18
date last changed
2016-03-18 10:02:18
@misc{8847894,
  abstract     = {{The aim of this project is to control a double linked inverted pendulum called the "Pendubot". A cascade control scheme has been developed at Laboratoire d'Automatique (EPFL) for this purpose. The structure of the cascade scheme is: Input-output feedback linearization and a linear controller in the inner-loop to assure the control of the fi-angle, the outer loop is responsible for stabilizing the psi-angle. The whole idea is to make the inner loop much faster than the outer so to separate the system and to allow to control the fi and the psi angle separately, This so called timescale separation is necessary for the cascade schemes efficiency. This speed difference between the loops is accomplished by the linear controller. In the outer-loop three different types of controllers will be implemented: a PD-structured controller, a non-linear controller and a Model Predictive controller (MPC).}},
  author       = {{Kwapisz, Michael}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{MSc Theses}},
  title        = {{Control of an Inverted Pendulum (Pendubot)}},
  year         = {{2005}},
}