Controlling an inverted pendulum using a microcontroller
Inverted pendulum is an example of naturally unstable system. In order to stabilize an inverted pendulum, a proper controller should be used. One of the famous controllers is PID 1). PID controller can be analog (consist of several operational amplifiers) or digital.rnIn this thesis, a microcontroller is used as a digital PID controller. The real PID formula contains a differentials equation. An 8-bit microcontroller is not fast enough to calculate such formula within a short time (less than 10ms). Therefore, the formula should be first simplified; hence, the microcontroller can perform the computation in a tigHTM timing.rnThe actuator for this inverted pendulum is a DC motor. The speed of the motor is controlled using PWM (Pulse Width Modulator).rnThe main purpose of this thesis is to develop a PID controller using a microcontroller. The second purpose is to provide students an experimental tool in order to understand what PID controller is. In addition, the third purpose of this thesis is to provide SGU laboratory with an inverted pendulum.
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