Demetriou, Michael A.
This project presents the procedure used to design and build the control system for stabilizing a double inverted pendulum on a mounted cart. The goal is to design a controller which keeps the pendulums inverted since by themselves they are unstable. With the aid of MATLAB, we designed our controller in simulation, and used the dSPACE Real Time Workshop software to test our controller on our experimental setup. The results from our experiment confirm the validity of our approach.
Worcester Polytechnic Institute
Major Qualifying Project
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