DESIGN AND CONTROL OF A FLYWHEEL INVERTED PENDULUM SYSTEM
Keywords:
Experimental identification, PID controller, Flywheel inverted pendulum
Abstract
The paper presents an approach to obtain the transfer function of a Flywheel Inverted Pendulum
(FIP) prototype when only parameters related to the static mechanical structure are known (mass and pendulum length). The proposed approach combine analytical and experimental techniques, the former conducted over the non-inverted version, since the FIP has an unstable nature. The state space representation is also determined and a digital PID controller is implemented to compute the DC motor voltage required to balance the FIP. A Matlab simulation and experiments with the built prototype have been carried out to validate the efectiveness of the proposed method.
