2026-09-19T08:51:49Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/456112022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
James K. Roberge.
Barton, Taylor Wallis
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2009-06-25T20:34:21Z
2009-06-25T20:34:21Z
2008
2008
http://hdl.handle.net/1721.1/45611
319175708
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).
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.
by Taylor Wallis Barton.
M.Eng.
99 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Stabilizing the dual inverted pendulum : a practical approach
Thesis
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