Design and Performance Analysis of the Robust Controller for Inverted Pendulum Systems

• Main Authors: Chia-Hui Chen, 陳家慧
• Other Authors: Fu-Cheng Wang
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/50598642897855092682

碩士 === 國立臺灣大學 === 機械工程學研究所 === 100 === This thesis discusses two kinds of rotational inverted pendulum systems: Furuta and Pendubot systems. First, we derive the dynamics of these systems, and compare them with the SimMechanics and AutoSim models for verification. Second, we use the software to build the complex models of multi-pendulum systems for controller design. Third, we design the swing-up controller and balance controllers (LQR, Pole placement,Robust, fixed-order robust control.) for these systems. Lastly, we implemented the designed controllers on a PC-based system to verify system performance. In addition, we also use a micro-chip system for system miniaturization and cost reduction. Based on the results, the proposed systems are deemed effective.