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Single inverted pendulum with novel hardware

Abdul Halim, Mohd Fauzul Rizal (2018) Single inverted pendulum with novel hardware. Honours thesis, Murdoch University.

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Abstract

The purpose of this project is to stabilize an inverted pendulum from its rest position using a feedback control. The single inverted pendulum (SIP) is a classical nonlinear system. SIP used in this thesis consists of a pole attached to the cart and driven by a DC motor which is supplied via a motor driver. The position of the pendulum is measured by an encoder that is positioned behind the pendulum cart. SIP used in this project were controlled by a single microprocessor and programmed using a LabVIEW. The microprocessor will process the pendulum’s position, and a controller designed in LabVIEW will react according to the position of the pendulum.

Statechart design and State Machine Design are two methods used in this project to combine the swing up routine and stabilizing routine. The on-off controller is used inside the swing up routine while in stabilizing mode, four types of controller has been tested which is P, PI, PD and PID controller.

The main objective of this project is to balance the pendulum at its upright position from its stable position. Another objective of this thesis is to integrate the software and hardware of the system. Overall, this project can be considered success, and most of the objective has been achieved even though the pendulum can only be stabilized about a few second it still consider a great achievement consider that the pendulum needs to be stabilized from its rest position.

Publication Type: Thesis (Honours)
Murdoch Affiliation: School of Engineering and Information Technology
Supervisor: Cole, Graeme
URI: http://researchrepository.murdoch.edu.au/id/eprint/41058
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