Design a control system to swing up a pendulum
in down/up & up/up configurations
Description:
A DC motor with a horizontal shaft rotates a
flat arm at one end in a vertical plane. The other end of the arm
is instrumented with a joint with a horizontal axis normal to the
plane of rotation of the arm. A pendulum is suspended from the instrumented
joint.
A)
Design a controller that swings up the pendulum and balances
it vertically with the arm pointing down (Down /up).
B)
Design a controller that swings up the pendulum and balances
it vertically with the arm pointing up (Up /up).
The system is supplied with a multiple mode controller.
You may design any other controller you wish.
Difficulty:
Undergraduate advanced / Graduate / Project /
Research
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