Control of a rotary inverted pendulum system | |
| Author | Bui Trung Thanh |
| Call Number | AIT Thesis no.ISE-05-27 |
| Subject(s) | Pendulum Fuzzy sets |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-05-27 |
| Abstract | The inverted pendulum system is a basic and the most difficult problem in control area and Control of a rotary inverted pendulum system is another challenging to study. This research concerns about how to design and control for a rotary inverted pendulum system. Firstly, a mechanical system is designed and developed, and then the system is modeled in term of both transfer function form and state space form. Secondly, all the circuits are designed and built for interfacing between system and microcontroller as well as PC. Thirdly, an optimal control algorithm - LQR and a fuzzy control algorithm are designed to control the system, and MATLAB/Simulink is used to investigate the controlled system. Finally, control programs are developed using C language to implement the control algorithms, and the system is tested with PID and fuzzy controllers. |
| Year | 2005 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-05-27 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V. ;Pisut Koomsap; |
| Scholarship Donor(s) | Vietnam Ministry of Education and Training; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2005 |