Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control Education Using Pendulum Apparatus

  • Hoshino, Tasuku (Dept. of Management and Systems Science, The Science University of Tokyo) ;
  • Yamakita, Masaki (Dept. of Mechanical and Control Systems Engineering, Tokyo Institute of Technology) ;
  • Furuta, Katsuhisa (Dept. of Computers and Systems Engineering, Tokyo Denki University)
  • Published : 2000.09.01
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Abstract

The inverted pendulum is a typical example of unstable systems and has been used for verification of designed control systems. It is also very popular in control education in laboratories, serving as a good example to show the utility of the state space approach to the controller design. This paper shows two kinds of experiment using inverted pendulum: one is the stabilization of a single spherical inverted pendulum by a plane manipulator using visual feedback, and the other is the state transfer control of a double pendulum. In the former experiment, the feedback stabilization using a CCD camera has major importance as an example of controller implementation with non-contact measurement. The latter involves the standard stabilizing regulation method and nonlinear control techniques. The details of the experimental systems, the control algorithms and the experimental results will be given.

Keywords

References

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