top of page
Inverted Pendulum
Inverted Pendulum
Project conducted during ME552 Mechatronics in University of Michigan.
Similar system like Segway. Two metal sticks are jointed by a bearing where angular encoder is implemented. Horizontal link is attached to step motor by another bearing and stop motor has its own rotation encoder.
The task is to control step motor with LabView program as well as DAQ system so that the vertical pendulum would stay pointing up even with minor interface.
2016
Two different controllers were used in different position range of vertical pendulum.
Lead-Lag controller for near-vertical position micro-balance, and state space controller for the swing-up stage.
bottom of page