Control strategies of an inverted pendulum.
Harding, Richard Warren
MetadataShow full item record
In a space booster on takeoff, a control system must be employed to prevent the rocket from falling over as it is forced upward by the engines. One accurate dynamic model of the space booster on takeoff is the inverted pendulum. This paper investigated the inverted pendulum system from development of equations of motion, through implementation of an actual inverted pendulum system using state variable feedback control. The concept of state variable feedback was analyzed in determining a solution to the problem of control of the inverted pendulum. Most importantly, design and construction of a working, solid state controlled, inverted pendulum demonstration model was accomplished.
Approved for public release; distribution in unlimited.
Showing items related by title, author, creator and subject.
Bradford, Ellen M. (Monterey, California: Naval Postgraduate School, 2017-06);The inverted pendulum, a popular problem of study, is presented in many textbooks as a nonminimum phase system. The majority of control algorithms for this problem include linearizing the system about a fixed operating ...
Starsman, Raymond Scott (Monterey, California. Naval Postgraduate School, 1991-12);An automatic control system capable of controlling an unknown nonlinear system is designed using a direct adaptive control scheme, implemented with a Hopfield network. The application of this method to an arbitrary system ...
Wan, Mu-yu (Monterey, California: U.S. Naval Postgraduate School, 1965);Here is a simple example of control of inherently unstable system. An inverted pendulum pivoted on top of a cart is to be stabilized by applying force to the cart through an electric motor. In the electrical laboratory ...