| Author | Pulle, Christopher Shawn Sebastian |
| 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 |
| Abstract | This project involves a rotary inverted pendulum mechanism which is connected to a ball and beam mechanism. The ball on the beam will move in one degree of freedom with the movements of the inverted pendulum. In this report the position of the ball is controlled using ultrasonic sensors to measure the position of the ball and an accelerometer which measures the acceleration and speed of the inverted pendulum. As the inverted pendulum moves in any direction the ball on the beam will also start to move according to the angle and speed of the inverted pendulum. A state space representation for the system was derived and used for the LQR controller. A Linear Quadratic Regulator (LQR) controller was implemented to control the mechanism based on the feedback of the sensors or states of the mechanism.
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| Year | 2016 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun ; |
| Examination Committee(s) | Mongkol Ekpanyapong ;Bohez, Ir. Erik L. J. ; |
| Scholarship Donor(s) | HM King of Thailand ; |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2016 |