Stabilizing the dual inverted pendulum : a practical approach
Author(s)Barton, Taylor Wallis
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
James K. Roberge.
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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.
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).
DepartmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology
Electrical Engineering and Computer Science.