AME 30315 Pendulum Project
In this project you will design a feedback controller to stabilize an inverted pendulum. The basic steps are:
- system identification,
- controller design,
- 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 pendulum and controller are shown in the figure on the right. It is comprised of
- the pendulum,
- a d.c. motor with optical encoder,
- an H-bridge current controller (the device with the heat sinks),
- 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.