Persons at STU
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Basic information about a final thesisAdditional informationAdditional information about the final thesis follows. Click on the language link to display the information in the desired language.
|Language of final thesis:||English|
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|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|
To display the final thesis assignment form click on the Display the final thesis assignment form icon. The following icons - Final thesis, Thesis appendices, Supervisor's review, Opponent's review - relate to the final thesis and can be downloaded. They could be displayed on condition they have been inserted and are available publicly.Parts of thesis with postponed release:
|–||Final thesis (final thesis appendices) unlimited|
|–||Reviews for final thesis unlimited|