Modelagem e implementação de protótipo de ensaios de pêndulo invertido linear

Abstract

The study of the inverted pendulum is very useful due to the system characteristics, it is a non-linear system which must be controlled at the instability point, being a great tool for the study of classical control theory and modern control theory. This final coursework proposes the construction of a prototype of the inverted pendulum for the study of control theory, the mathematical modeling, and the development of a computational model where tests can be done and results can be compared to the ones from the prototype. It is proposed the use of a system with two control loops using a PID (proportional-integrative-derivative) and a PI (proportional-integrative) controllers, being one responsible for the equilibrium of the rod and the other for the position of the car.