Construction, modeling and control of a low-cost inverted pendulum using the Arduino platform

• Grant number: 15/17121-0
• Support type: Scholarships in Brazil - Scientific Initiation
• Effective date (Start): September 01, 2015
• Effective date (End): August 31, 2016
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Vicente Lopes Junior
• Grantee: Jessé Augusto dos Santos Paixão
• Home Institution: Faculdade de Engenharia (FEIS). Universidade Estadual Paulista (UNESP). Campus de Ilha Solteira. Ilha Solteira , SP, Brazil

Abstract

A system much studied and discussed in textbooks control systems area is the inverted pendulum, which basically consists of a rod attached to a free car to move horizontally. The inverted pendulum is considered an unstable system and is widely used to evaluate the performance of different control techniques. This system has been very currently exploited as an educational platform used for teaching in the control systems area. However, this tool still has a high cost, making it inaccessible to some educational institutions. In this paper, the goal is the construction, modeling and control of a low-cost inverted pendulum using the Arduino platform. They will be evaluated and compared the results to two control techniques, PID and feedback control state-space, considering the linearization of the equations of motion around the static equilibrium position in the inverted position. (AU)