Hi all! In this entrance, I share with you the document that a friend and I, wrote for the thesis to obtain the degree of Electronic Engineer.
The design, construction of a prototype and functionality of an inverted pendulum is exposed. The model-based design and implementation of a PID controller and a LQR is achieved via root locus and state space techniques respectively. The model of the inverted pendulum is obtained using gray box modeling. The identification process is done dividing the system in subsystems: the car and the pendulum. Then putting both subsystems together and finding how one relates to the other. First, the system identification with the pendulum downwards and then upwards. The transition from one and other is done mathematically by changing the sign of the torque due to gravity. By having a good model of the system, the design of the controllers is the easiest part.
A con is that the document is in Spanish, but if you have any question I'll try to answer it as soon as possible. You can find the document and the Matlab programs in the following link:
