Development of an inverted pendulum | |
| Author | Boteju, Welathanthirige D.T. |
| Call Number | AIT Caps. Proj. no.ME-17-25 |
| Subject(s) | Robots--Control systems Pendulum PID controllers |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-17-25 |
| Abstract | This report contains a development of an Inverted Pendulum with 3 different control con- figurations which are Single Input Single Output (SISO) systems with a PID controller and a lead controller as well as Single Input Multiple Outputs system (SIMO) controlled with PID controller. The scope of the project was extended to control the position of the cart as well.The first part of the project was carried out without the linear encoder strip, after completing SISO systems SIMO was developed. In SISO system configurations the angular position of the pendulum is controlled at zero (invert position) while in SIMO system both invert angle and the cart position is controlled at the middle of the track. Results of each systems were taken and analyzed. Since the length of the track is limited SIMO system was more appropriate to control U-channel cart moving configuration than SISO system hence it provides more robustness to the system. |
| Year | 2017 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-17-25 |
| Type | Capstone Project |
| 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) | Than Lin;Mongkol Ekpanyapong; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2017 |