Actuator and controller design for the inverted pendulum on a cart driven by a belting system / Patil Humu Harun
The inverted pendulum is one example of an unstable system and is a classical problem in control theory. Many different approaches in construction and control methodologies have been studied by different researchers in order to solve this problem. The main objective is to keep the inverted pendulum...
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1995
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my-uitm-ir.714412023-12-13T11:58:12Z Actuator and controller design for the inverted pendulum on a cart driven by a belting system / Patil Humu Harun 1995 Harun, Patil Humu The inverted pendulum is one example of an unstable system and is a classical problem in control theory. Many different approaches in construction and control methodologies have been studied by different researchers in order to solve this problem. The main objective is to keep the inverted pendulum in the vertical position i.e. in the balanced condition. In this project, a single inverted pendulum on a cart is balanced by moving the cart forward and backward using a pulley-belt transmission system. The plant parameters are obtained experimentally in the laboratory. A suitable actuator has been chosen to drive the cart. The state-space pole-placement technique controller has been designed, to balance the inverted pendulum. Simulation results show that the inverted pendulum can be balanced. 1995 Thesis https://ir.uitm.edu.my/id/eprint/71441/ https://ir.uitm.edu.my/id/eprint/71441/1/71441.PDF text en public degree Institut Teknologi MARA Faculty of Electrical Engineering |
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Universiti Teknologi MARA |
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UiTM Institutional Repository |
| language |
English |
| description |
The inverted pendulum is one example of an unstable system and is a classical problem in control theory. Many different approaches in construction and control methodologies have been studied by different researchers in order to solve this problem. The main objective is to keep the inverted pendulum in the vertical position i.e. in the balanced condition. In this project, a single inverted pendulum on a cart is balanced by moving the cart forward and backward using a pulley-belt transmission system. The plant parameters are obtained experimentally in the laboratory. A suitable actuator has been chosen to drive the cart. The state-space pole-placement technique controller has been designed, to balance the inverted pendulum. Simulation results show that the inverted pendulum can be balanced. |
| format |
Thesis |
| qualification_level |
Bachelor degree |
| author |
Harun, Patil Humu |
| spellingShingle |
Harun, Patil Humu Actuator and controller design for the inverted pendulum on a cart driven by a belting system / Patil Humu Harun |
| author_facet |
Harun, Patil Humu |
| author_sort |
Harun, Patil Humu |
| title |
Actuator and controller design for the inverted pendulum on a cart driven by a belting system / Patil Humu Harun |
| title_short |
Actuator and controller design for the inverted pendulum on a cart driven by a belting system / Patil Humu Harun |
| title_full |
Actuator and controller design for the inverted pendulum on a cart driven by a belting system / Patil Humu Harun |
| title_fullStr |
Actuator and controller design for the inverted pendulum on a cart driven by a belting system / Patil Humu Harun |
| title_full_unstemmed |
Actuator and controller design for the inverted pendulum on a cart driven by a belting system / Patil Humu Harun |
| title_sort |
actuator and controller design for the inverted pendulum on a cart driven by a belting system / patil humu harun |
| granting_institution |
Institut Teknologi MARA |
| granting_department |
Faculty of Electrical Engineering |
| publishDate |
1995 |
| url |
https://ir.uitm.edu.my/id/eprint/71441/1/71441.PDF |
| _version_ |
1794191865483886592 |