Stabilizing the dual inverted pendulum : a practical approach
Name
319175708-MIT.pdf
Description
Full printable version
Size
970.44 KB
Format
Adobe PDF
Checksum (MD5)
5cc3f3ec5e7e98e893f32a7795bf5022
Author(s)
Barton, Taylor Wallis
Advisor(s)
James K. Roberge.
Date Issued
2008
Publisher
Massachusetts Institute of Technology
Abstract
A dual inverted pendulum system, consisting of two individual pendulums of different lengths on a single cart, was fully designed and implemented as a demonstration of classical control theory. This document contains an analysis of the complete control system for both a single and dual inverted pendulum system, as well as the results of the implementation. Also presented are the all-analog systems which were used along with an industrial permanent magnet linear synchronous motor to control and drive the pendulum cart, including a voltage-controlled oscillator, three-phase switching power amplifier, and acceleration feedback controller.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references (p. 99).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
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