Diao, X. (2016, June), Modular Control of a Rotary Inverted Pendulum System  Paper presented at 2016 ASEE Annual Conference & Exposition, New Orleans, Louisiana. 10.18260/p.25750

\bibitem{asee_peer_25750}
  Diao, X. (2016, June), \emph{Modular Control of a Rotary Inverted Pendulum System}
  Paper presented at 2016 ASEE Annual Conference \& Exposition, New Orleans, Louisiana.
  10.18260/p.25750

Xiumin Diao.  "Modular Control of a Rotary Inverted Pendulum System".  2016 ASEE Annual Conference & Exposition, New Orleans, Louisiana, 2016, June.  ASEE Conferences, 2016.  https://peer.asee.org/25750 Internet.  19 Apr, 2024

\bibitem{asee_peer_25750}
  Xiumin Diao.
  "Modular Control of a Rotary Inverted Pendulum System".
  \emph{2016 ASEE Annual Conference \& Exposition, New Orleans, Louisiana, 2016, June}.
  ASEE Conferences, 2016.
  https://peer.asee.org/25750 Internet.  19 Apr, 2024

@INPROCEEDINGS{asee_peer_25750
author = "Xiumin Diao"
title = "Modular Control of a Rotary Inverted Pendulum System"
booktitle = "2016 ASEE Annual Conference \& Exposition"
year = "2016"
month = "June"
address = "New Orleans, Louisiana"
publisher = "ASEE Conferences"
note = {https://peer.asee.org/25750}
number = {10.18260/p.25750}
}

TY  - CPAPER
AB  - Control of an inverted pendulum is one of the most interesting and classical problems of control engineering. This paper addresses control design and implementation of a rotary inverted pendulum system. The system is developed for control instruction and laboratory exercise of feedback control for undergraduates. The control of the inverted pendulum system is to drive the pendulum from its hanging-down position to upright position and hold it there stably. The controller is decomposed into three sub-controllers: destabilizing controller, stabilizing controller, and mode controller. The destabilizing controller is employed to oscillates the pendulum back and forth until it builds up enough energy to break the hanging-down stable position and gets into a neighborhood of the upright unstable position. Then the stabilizing controller kicks in and maintains the pendulum in the upright unstable position with a capability of rejecting small disturbance to the pendulum. The mode controller is able to determine when to switch between the destabilizing controller and the stabilizing controller. The proposed control strategy of the inverted pendulum system is verified by both simulation and experiments. According to a qualitative student assessment survey, such a modularized control strategy helps students understand the control theory more effectively.
AU  - Xiumin Diao
CY  - New Orleans, Louisiana
DA  - 2016/06/26
PB  - ASEE Conferences
TI  - Modular Control of a Rotary Inverted Pendulum System
UR  - https://peer.asee.org/25750
DO  - 10.18260/p.25750
ER  -