control of parallel-type double inverted pendulum system

• Main Authors: Chu, Sheng-Renn, 朱勝任
• Other Authors: Chen Yon-Ping
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/23432671219615228623

碩士 === 國立交通大學 === 控制工程系 === 84 === This thesis is concerned with the analysis and control of a specific type of pendulum-cart mechanical system: parallel-type double inverted pendulum system. Detailed analysis of controllability and stability is presented. The control goal of the system is " both pendulums are stabilized at the upright position and the cart follows the reference position". The sliding mode controller (SMC) and the linear state feedback controller (LSFC) are developed to obtain the desired performance. The design process and simulation results are included and analyzed. The experimental system is constructed and its control system is implemented by a 32-bit personal computer. The feasibility of the discretized system with SMC or LSFC are also demonstrated.