Diseño de un algoritmo de control para el péndulo invertido simple marca feedback modelo 33-936s usando variables de estado.

Abstract

The inverted pendulum is a non-linear and unstable system which is composed of a freely moving car in the horizontal axis with a pivot with the freedom to oscillate 360⁰. This project designs three control alternatives: The Control algorithm for State variables, PID control algorithm and MPC algorithm (Predictive control based on model). Before the stage of designing the control algorithms, the mathematical model of the servo-mechanical system of the inverted pendulum must be made. This is the main factor to the linearization of the system at its equilibrium point. Once the system is linearized the model is presented in the Matlab software at the platform Simulink. The analysis, model and simulation of the system allow us to conduct the objectives of this project. The analysis of the performance of these controllers is compared between them at its steady state.