AME 30315 Pendulum Project

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Introduction

In this project you will design a feedback controller to stabilize an inverted pendulum. The basic steps are:

  1. system identification,
  2. controller design,
  3. implementation and verification.

The first and third steps require that you be able to program a microcontroller. The second step requires that you understand the course material.


The System

The pendulum and controller are shown in the figure on the right. It is comprised of

  1. the pendulum,
  2. a d.c. motor with optical encoder,
  3. an H-bridge current controller (the device with the heat sinks),
  4. a Freescale 68hc11 8-bit microcontroller with peripherals.

The microcontroller is very inexpensive and has limited capability, as is realistic in industry where component costs are of significant importance.