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Quanser |
Self-Erecting IP
Challenge:
Design a control system to swing up and balance
an inverted pendulum using a rotary motion arm.
Description:
A DC motor rotates a stiff arm at one end in
the horizontal plane. The opposite end of the arm is instrumented
with a joint whose axis is along the radial direction of the motor.
A pendulum is suspended at the joint.
Design a controller that swings up the pendulum
and maintains it upright and maintains the arm position. The system
is supplied with a dual mode nonlinear controller. You may design
any other controller you wish.
Difficulty:
Undergraduate - first course, second course
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