Inverted Pendulum on a Translating Base 1.1 2005/10/17 01:42:04.681 GMT-5 2005/10/17 14:10:53.838 GMT-5 Robert Bishop rhbishop@mail.utexas.edu Erik B Luther erik.luther@ni.com Paul Edward Zucknick paul.zucknick@gmail.com aerospace austin automatic control ecp experiment lab laboratory labview simulation system texas ut The objective of this lab is to understand the dynamics of an inverted pendulum with a translating base. Students will use feedback to control an unstable system. The controller will be designed and implemented in LabVIEW using the Simulation Module and Control Design Toolkit.

Inverted Pendulum on a Translating Base

Objectives Understand the dynamics of an inverted pendulum with a translating base. Use state feedback to control an unstable system.

Pre-Lab Derive the equations of motion for an inverted pendulum with a translating base shown in the figure below

Inverted Pendulum with a Translating Base

Pendulum Parameters

Find a state-space realization of the system. Design and simulate a full state-feedback compensator that stabilizes the system and satisfies the following performance specifications: Percent overshoot ≤ 10 % Setting time ≤ 2 sec

Lab Procedure Configure the plant as shown above in Fig. 1. Code your state-feedback compensator into the control loop VI. Perform a 2500 count step input and save the plot. Implement dither into your system and perform the step input again. Save the plot when you are finished.

Post-Lab How did the response of the system with no dither compare to your simulation? Can you explain the discrepancy? What effect did dither have on the response of the system? Was this response trajectory closer to what you had simulated?