Design, Build and Control of a Single Rotational Inverted Pendulum

Mechtronics is a natural stage in the evolutionary process of modern engineering design. The development of the computer, and then the microcomputer, embedded computers, and associated information technologies and software advances, made mechatronics an imperative in the latter part of the twentieth century. Standing at the threshold of the twenty first century, with expected advances in the integrated bioelectrical-mechanical systems, quantum computers, nanoand pico-systems, and other foreseen developments, the future of mechatronics is full of potential and bright possibilities. As a result of mentioned developments, mechatronics is a growing field of study in School of Electrical and Computer Engineering at University of Tehran. An inverted pendulum system has been proposed as a suitable state space demonstration and experimentation device. Undergraduate textbooks cover dynamic modeling and state control of single inverted pendulum. Commercial inverted pendulum experiment rigs are available but are cost prohibitive; like the one in Control Laboratory of School of Electrical and Computer Engineering at University of Tehran. This report begins with an outline of the research into inverted pendulum system design and control along with mathematical modeling methods. Details of the pendulum as mechatronic system are presented and mathematical modeling of the designed system follows. Controller design and implementation is discussed next.