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Development and control of an inverted pendulum system

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Published on Oct 7, 2013

This video presents the development of a pole-on-cart system, along with the design and implementation of appropriate controllers for balancing the pole in the upright unstable position (inverted pendulum configuration).

The pole-on-cart system was created around a linear slide mechanism salvaged from an old dot matrix printer. Additional parts were designed in CAD software, and fabricated in ABSplus material using a 3D printer. A 48V DC motor, powered by a servo-amplifier in current mode, imparts the actuating forces to the cart through a cable drive transmission. The position of the cart along the track is calculated from the angular position of the motor's output shaft, which is measured using an optical encoder. A second optical encoder, mounted on the cart, is used to measure the angle of the pole.
The pole balancing controllers were designed using LQR techniques, and run in real time under WinCon in Simulink.


2013 Final year project by Mouratis Kyriakos (Kiriakos)

Project supervisor: Dr. M. Sfakiotakis

Control Systems Laboratory
Electrical Engineering Dept.
Technological Educational Institute of Crete
(Heraklion, Greece).

For swing-up control of this system, see https://www.youtube.com/watch?v=XWhGj...

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