ROCO219 - Control Engineering

Assignment Task

Introduction

An inverted pendulum consists of a pole that acts as the pendulum, which is pivoted at one end and is attached to a cart. The cart can travel backwards and forwards on a linear track, and by moving the cart appropriately it is possible to balance the pole and maintain it in its inverted position. In this assignment you will be using a simple modular 3D-printed design for an inverted pendulum system that is driven using a stepper motor. More specifically, your coursework task involves designing and implementing a state feedback controller with integral action to control an inverted pendulum that is mounted on a motorized cart. This system is unstable without control and balancing the pendulum in its inverted configuration can only be achieved by displacing the cart. 

AIMS

• To translate linear systems described by differential equation into transfer function using Laplace transformation.
• To explore the concept of open-loop and closed-loop and the need for improve system accuracy and dynamic performance.
• To explain the concept of stability and to test system stability.

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