Please use this identifier to cite or link to this item:
Author(s): António Paulo Moreira
Paulo J. Costa
José L. Lima
José C. Gonçalves
Title: Inverted pendulum virtual control laboratory
Issue Date: 2006
Abstract: This paper describes a tool for interactive learning that can be used to improvecontrol systems design. The developed system is ready to use and allows testingdifferent control methods. It can be used by students for problem solving andindividual learning. The virtual control laboratory was implemented as a teachingaid during lectures on control systems. As there is no need to do any specialprogramming or debugging, the students can focus on the control items. Classicalcontrol methods such as PID and State-Space approaches are available and gainscan be tuned. A friendly appearance based on openGL 3D shows a simulation ofthe real word: A cart with an inverted pendulum is bumped with a force. Thedynamic equations of motion for the control system are linearized assuming thatthe pendulum does not move more than a few degrees away from the verticalallowing to apply linear control methods. Although, the simulated system isrealistic and based on a Dynamics Engine.
Subject: Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
Source: CONTROLO 2006
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

Files in This Item:
File Description SizeFormat 
103590.pdfInverted pendulum Virtual Control Laboratory199.66 kBAdobe PDFThumbnail

This item is licensed under a Creative Commons License Creative Commons