Construção e Projeto de Controle de um Protótipo de Pêndulo Invertido Rotacional

Abstract

This article presents the process of building and controlling a rotational inverted pendulum. This non-linear plant is commonly used for control applications and testing new controllers, as well as for teaching purposes. The methodology used in this work involves linearizing the model around the operating point, i.e. upright position, apply discretization and designing a linear controller, in this case, a state feedback controller. The control law is found using Lyapunov stability theory and linear matrix inequalities. The results of the practical implementation are presented and show the effectiveness of the controllers designed for the sampling rates used.