inverted pendulum, full state feedback, drexel students

Inverted pendulum. This is a MIMO (multi input multi output system) The equations were linearized about the vertical position of the stick. The controller was designed using the LQR technique. The microcontroller used is the Ti dsp F2812.

for more control videos visit : http://control.mem.drexel.edu/student_projects.htm

Quanser (TM) Electro-mechanical assembly used for this project. Yo can find their products on this website: http://www.quanser.com/choice.asp

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Entertainment

Tags:

• inverted
• pendulum
• ketan
• Quanser

[formato5]

You used a full state feedback control, but really you haven't full state. pendulum speed and cart speed are calculated by using derivative of position but this is not correct becuase measures are affected by noise. You should use a state observer. In your situation motor is too urged, it could break!

[ketanchemburkar]

I dont know how to use a state oberver.

[umerage89]

Hey Man . I need Help On dis Project .. Can u Help me A bit ..

[formato5]

It's really simple. Search for Luenberger observer on the net. I did your same work at university, and just when I listened to these loudly and strange sounds I realized that almost always in real control problems is necessary a state observer (except if you have a sensor for each state).

Bye friend!

[efreyre]

I AM MAKING THE SAME CONTROL FOR THE UNIVERSITY, WHAT TOOL YOU HAVE USED FOR DESIGNING THE K VECTOR OF FEEDBACK STATES?

THANKS

ernestofreyre at gmail dot com

[smiley4949]

Thats awesome!

[tejandtejas]

Fabulous Control.....

Cheersss....