Aug 26, 2019   10:59 a.m. Samuel
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Ing. Martin Klaučo, PhD.
Identification number: 50920
University e-mail: martin.klauco [at] stuba.sk
 
Výskumný pracovník s VŠ vzdelaním - Department of Information Engineering and Process Control (IIEAM FCFT)
Vedecký pracovník KS II.b. CSc.,PhD. - Department of Information Engineering and Process Control (IIEAM FCFT)

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Basic information

Basic information about a final thesis

Type of thesis: Diploma thesis
Thesis title:Development of Control Algorithms for Rotational Inverted Pendulum
Written by (author): Ing. Matúš Furka
Department: Department of Information Engineering and Process Control (IIEAM FCFT)
Thesis supervisor: Ing. Martin Klaučo, PhD.
Opponent:Ing. Martin Kalúz, PhD.
Final thesis progress:Final thesis was successfully defended.


Additional information

Additional information about the final thesis follows. Click on the language link to display the information in the desired language.

Language of final thesis:English

Slovak        English

Title of the thesis:Development of Control Algorithms for Rotational Inverted Pendulum
Summary:This work is devoted to identifying and development of control algorithms for controlling the real process, which is an inverse rotary pendulum known as the Furuta Pendulum. An alternative method of modeling the inverse rotary pendulum using Euler-Lagrange is described, which allows finding the pendulum and arm motion equations used to create a dynamic device model. From this nonlinear dynamic model, a linear model in the form of state space was derived. Using this linear model, PID, LQR and MPC controllers were designed. Also, a non-linear MPC controller was designed using the MATMPC toolbox in Matlab. There is also described communication between Matlab and the pendulum control unit, which is realized by using the WebSocket protocol. By using this protocol, it is possible to retrieve and send real-time data, as continuous two-way ongoing communication runs after the connection between client and server is created.
Key words:LQR, Furuta pendulum, PID, MATMPC

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