Jan 20, 2020   10:14 a.m. Dalibor
Academic information system

Final theses

Basic information

Basic information about a final thesis

Type of thesis: Diploma thesis
Thesis title:Embedded predictive control of a laboratory inverted pendulum system
Written by (author): Ing. Jakub Kulhánek, BSBA
Department: Institute of automation, measurement and applied informatics (FME)
Thesis supervisor: doc. Ing. Martin Gulan, PhD.
Opponent:doc. Ing. Juraj Oravec, 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:Embedded predictive control of a laboratory inverted pendulum system
Summary:This thesis deals with an embedded implementation of model predictive control using the STM32F4 Discovery board. Its purpose is to provide control input for a laboratory inverted pendulum system to stabilize the pendulum in its unstable equilibrium position and to maintain it even when the cart's reference position is changed. The first part presents derived mathematical model of the system with extended Kalman filter used for state estimation. This is followed by the design of swing-up/swing-down control and predictive stabilization control based on quadratic programming. The experimental part features a PC-based implementation using MATLAB/Simulink Real-Time and an embedded implementation on a 32-bit STM32F407VG microcontroller, and features a detailed description of the used open-source software and the designed control panel. Finally, experimental results demonstrate control performance using both platforms.
Key words:model predictive control, embedded implementation, STM32F4, inverted pendulum, microcontroller

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Parts of thesis with postponed release:

Final thesis (final thesis appendices) unlimited
Reviews for final thesis unlimited