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Hard Real-Time Control of an Inverted Pendulum using RTLinux/Free

Svensson, Mathias (2004) In MSc Theses
Department of Automatic Control
Abstract
The content of this master thesis regards the implementation of a control system in RTLinux/Free, and the use of this for control of a straight track inverted pendulum. A controller developed on the hypothesis that the system is sampled with the sampling time ts will perform differently than expected if sampled with the sampling time t _= ts. If implemented in a regular operating system, the computer will fail to meet demands of hard real-time sampling constraints, i.e. that the desired sampling time must be the one used by the system at all times and in all situations. A computer controlled system in this environment will thus perform di.erently than expected most of the time. Often 'di.erently' is the same as various degrees of worse.... (More)
The content of this master thesis regards the implementation of a control system in RTLinux/Free, and the use of this for control of a straight track inverted pendulum. A controller developed on the hypothesis that the system is sampled with the sampling time ts will perform differently than expected if sampled with the sampling time t _= ts. If implemented in a regular operating system, the computer will fail to meet demands of hard real-time sampling constraints, i.e. that the desired sampling time must be the one used by the system at all times and in all situations. A computer controlled system in this environment will thus perform di.erently than expected most of the time. Often 'di.erently' is the same as various degrees of worse. The underlying objectives for this project was the desire to be able to control and do research on a hard realtime system connected to an unstable non-linear plant the inverted pendulum. This master thesis covers the work of creating a hard real-time platform using RTLinux/Free on which to add control features. It deals with communication betweenhard real-time and soft real-time, kernel module programming, modelling, linear state feedback, linearization, energy functions, friction compensation, etc. (Less)
Please use this url to cite or link to this publication:
author
Svensson, Mathias
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5722
ISSN
0280-5316
language
English
id
8847991
date added to LUP
2016-03-18 19:06:30
date last changed
2016-03-18 19:06:30
@misc{8847991,
  abstract     = {The content of this master thesis regards the implementation of a control system in RTLinux/Free, and the use of this for control of a straight track inverted pendulum. A controller developed on the hypothesis that the system is sampled with the sampling time ts will perform differently than expected if sampled with the sampling time t _= ts. If implemented in a regular operating system, the computer will fail to meet demands of hard real-time sampling constraints, i.e. that the desired sampling time must be the one used by the system at all times and in all situations. A computer controlled system in this environment will thus perform di.erently than expected most of the time. Often 'di.erently' is the same as various degrees of worse. The underlying objectives for this project was the desire to be able to control and do research on a hard realtime system connected to an unstable non-linear plant the inverted pendulum. This master thesis covers the work of creating a hard real-time platform using RTLinux/Free on which to add control features. It deals with communication betweenhard real-time and soft real-time, kernel module programming, modelling, linear state feedback, linearization, energy functions, friction compensation, etc.},
  author       = {Svensson, Mathias},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Hard Real-Time Control of an Inverted Pendulum using RTLinux/Free},
  year         = {2004},
}