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National Repository of Grey Literature 2 records found  Search took 0.01 seconds. 
Control of Inverted Pendulum
 Rýc, Jan ; Grepl, Robert (referee) ; Šolc, František (advisor)
In this work the identification of an inverted pendulum system is realised. To gain the mathematical model  the second type of Lagrange equation is used. In program Simulink the creation of the nonlinear model from obtained equations and the resulting simulation are realised.  Afterwards the system linearization about an equilibrium point is realised. It is described how to transfer the pendulum from its down position to its up position and how to stabilize it here. For this purpose the proposal of the control by the Quadratic Optimal Controller and PD regulator is made. Since the proposed way of stabilisation of the inverted pendulum is then applied on a real system in  the laboratory of ÚAMT FEKT, the work also contains the description and the analysis of particular parts of the real model. The verification of the simulated and the real model is realised. Next part of the work deals with the system of an dual-inverted-pendulum which is  placed on a cart.
Detailed record
Control of Inverted Pendulum
 Rýc, Jan ; Grepl, Robert (referee) ; Šolc, František (advisor)
In this work the identification of an inverted pendulum system is realised. To gain the mathematical model  the second type of Lagrange equation is used. In program Simulink the creation of the nonlinear model from obtained equations and the resulting simulation are realised.  Afterwards the system linearization about an equilibrium point is realised. It is described how to transfer the pendulum from its down position to its up position and how to stabilize it here. For this purpose the proposal of the control by the Quadratic Optimal Controller and PD regulator is made. Since the proposed way of stabilisation of the inverted pendulum is then applied on a real system in  the laboratory of ÚAMT FEKT, the work also contains the description and the analysis of particular parts of the real model. The verification of the simulated and the real model is realised. Next part of the work deals with the system of an dual-inverted-pendulum which is  placed on a cart.
Detailed record

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