Controller Analysis with Inverted Pendulum

Abstract: The aim of this thesis is to examine if feedback of the angle from an inverted pendulum is sufficient to control its angle at an unstable equilibrium with statics and force impulses, and through different approaches and choice of controller find the most suitable one for these types of applications. The controllers that were tested was, the PID regulator and the state space regulator. The results would show that the mathematical approach to find a controller is difficult and time consuming, and it is often better to use a trial and error approach to find a regulator if repeated test on the system is possible. The core of the thesis lies in the mathematical approximations of the mechanical and electrical system, the analysis of the controller and the choice and usage of components. Analysis of the combined electrical and mechanical systems were made in Simulink and Matlab and was then generated to mechanical code to an micro controller controlling the voltage to a dc-motor. The system is non linear but can be linearised around the equilibrium point that we want to maintain, which is a good approximation for small angles. This thesis describes the electrical and mechanical components used to build a rotary inverted pendulum and how to produce an effective controller in detail.