Bp 93 en

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Rotation pendulum

Author: Bohumír Baier

Bakalářské práce 2007

Download thesis in PDF

This work describes identification and controlling of the system of the rotation inverted pendulum. The system is described mathematically and the parameters are computed from the system identification. The complete nonlinear scheme is linearized and the result is used for the regulator design. The system is controlled with regulators on the bottom side of the pendulum. There are PD and P regulator for the engine and PD regulator for the pendulum. In the high unstable position of the pendulum, the system is controlled by the suitably connected PD regulators of the engine and the pendulum.

Bp 2007 baier bohumir.pdf