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Quanser

Planar Rotary IP

Challenge:

Design a control system to swing up a pendulum in down/up & up/up configurations

Description:

A DC motor with a horizontal shaft rotates a flat arm at one end in a vertical plane. The other end of the arm is instrumented with a joint with a horizontal axis normal to the plane of rotation of the arm. A pendulum is suspended from the instrumented joint.

A)	Design a controller that swings up the pendulum and balances it vertically with the arm pointing down (Down /up).
B)	Design a controller that swings up the pendulum and balances it vertically with the arm pointing up (Up /up).

The system is supplied with a multiple mode controller. You may design any other controller you wish.

Difficulty:

Undergraduate advanced / Graduate / Project / Research

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