Modeling and Control of an Inverted Pendulum System

• Main Authors: Yu-Ju Lu, 呂育儒
• Other Authors: Fu-Cheng Wang
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/43621979279238321136

碩士 === 臺灣大學 === 機械工程學研究所 === 95 === The thesis discusses the controller design and implementation for inverted pendulum systems. Due to the nonlinear and non-minimum phase properties, inverted pendulum systems have been intensively studied in the control field. In this thesis, we focus on the control design of a Furuta pendulum to swing the it up from the bottom stable equilibrium point and balance it at the top unstable equilibrium. Several control algorithms are adopted to design the balanced controller, namely LQR control, sliding mode control, sub-optimal control, normalized coprime factorization control, and the fixed-order control. The performance and robustness of these controllers are compared by simulation and experimental results. Finally, we design and implement a fixed-order controller for a pendubot system.