This project presents the procedure used to design and build the control system for stabilizing a double inverted pendulum on a mounted cart. The goal is to design a controller which keeps the pendulums inverted since by themselves they are unstable. With the aid of MATLAB, we designed our controller in simulation, and used the dSPACE Real Time Workshop software to test our controller on our experimental setup. The results from our experiment confirm the validity of our approach.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Gadebusch, Jason Allen
• Sweeney, Robert J.
• Austin, Dwaine

Publisher

• Worcester Polytechnic Institute

Identifier

• 03D171M

Advisor

• Demetriou, Michael A.

Year

• 2003

Date created

• 2003-01-01

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Electrical Engineering

Rights statement

• In Copyright