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Control Education Using Pendulum Apparatus

Tasuku Hosbino/Maasaki Ymakita/Katsubis Furuta
Transaction on Control Automation, and Systems Engineering, vol. 2, no. 3, pp.157-162, 2000

Abstract : The inverted pendulum is a typical example of unstable systems and has ben used for verication of designed control systems. Itisalsoverypopularincontroleducationinlaboratories, servingasagoodexampletoshowtheutilityofthestatespace approach to the controler design. This paper shows two kinds of experiment using inverted pendulum: one is the stabilization of a singlesphericalinvertedpendulumbyaplanemanipulatorusingvisualfedback,andtheotheristhestatetransfercontrolofadouble pendulum.Intheformerexperiment,thefedbackstabilizationusingaCCDcamerahasmajorimportanceasanexamp implementationwithnon-contactmeasurement. Thelaterinvolvesthestandardstabilizingregulationmethodandn

Keyword : controleducation,invertedpendulum,visualfedback,nonlinearcontrol

 
 
 
 
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