This project involved the design, construction and implementation of an inverted pendulum system with swing-up and stabilizing control. The control algorithm for swing-up utilizes the technique developed by Yoshida [1]. Stabilization about the upper equilibrium point is based on standard linear state-feedback control. The control algorithm is implemented on a Texas Instruments C6711 DSP board augmented with an AED-103 Multi-Channel Daughterboard from Signalware Corporation.
To watch video clips of the pendulum in action, please click CLIP 1 and CLIP 2.
This work was submitted to the IEEE Region 8 Student Paper Contest 2003 and selected for the oral finals as part of the EUROCON 2003 conference. The paper, authored by Marvin Bugeja, is entitled Non-linear swing-up and stabilizing control of an inverted pendulum system .
[1] K. Yoshida, "Swing-up control of an inverted pendulum by energy-based methods", Proceedings of the American Control Conference 1999, pp. 4045-4047.