Control of a dual rotary inverted pendulum | |
| Author | Sanjeewa, Sondarangallage D. A. |
| Call Number | AIT Thesis no.ISE-12-38 |
| Subject(s) | Pendulum Double pendulums |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-12-38 |
| Abstract | Control system plays an important role in the Mechatronics field. Inverted pendulum is one of the widely used apparatus used to demonstrate the control system in laboratories. Main objective of this thesis is the designing and control of the dual rotary inverted pendulum system in its upright position. This system consists of a pivot arm and two pendulums which are different in their lengths as well as mass and moment of inertia. The mathematical model for the system was derived using lagrange equation of the motion simultaneously with the designing of the system. The linearized mathematical model was derived using the non-linear model and the state space form was used to represent the linearized mathematical model of the DRIP system. As the initial step, the SRIP system was controlled in its upright position using the linear quadratic regulator. As the LQR controller can maintain the stability of the system with several disturbances. The same was selected for the control of SRIP system. |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-12-38 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Bohez, Erik L.J.;Mongkol Ekpanyapong |
| Scholarship Donor(s) | Technical Education Development Project (TEDP) Sri Lanka;Asian Institute of Technology Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2012 |