Development of a methodology for the design and implementation of PID controllable systems via the construction of an inverted pendulum

• Main Authors: Canuto, Fritzie A., Dy, Lucita B., Neri, Richard James V., Opulencia, Cherrie B., Ureta, Erehwin D.
• Format: text
• Language: English
• Published: Animo Repository 1996
• Subjects: Feedback control systems; Pendulum; Discrete-time systems; Control theory; Engineering design; Proto-types, Engineering
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/7631
• Institution: De La Salle University

Control systems can be greatly appreciated if one knows how it was designed--from deriving the equations that make the system to the making of the actual system itself. This thesis will do just that the control system we are going to make is an inverted pendulum on a cart. The object of this system is to maintain a rod, hinged at the cart, in an upright position. This is done by making the cart move in the direction to which the pendulum falls. The speed and acceleration of the cart must be enough to keep the pendulum upright. The mathematical model of the system is taken from its system of equations (i.e. summation of moments and forces). Simplification and linearization will make the system feasible to construct. The stability of the system should also be known. This can be done in a number of ways. The group has decided to use MATLAB software to simulate and study the system. To support the correctness of the design, simulation is carried out in the time domain via the numerical solution of the differential equations of the system. This would be a great learning experience not only for the group but also for everyone.