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A simple device and a project for the nonlinear control systems laboratory

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1 Author(s)
Giron-Sierra, J.M. ; Dept. Arquitectura de Comput. y Autom., Univ. Complutense de Madrid, Spain

This paper describes a new inverted pendulum system that is useful to illustrate important aspects of nonlinear control systems theory. The stabilization of the pendulum is to be achieved by the on-off action of two electromagnets; therefore, an adequate switching policy has to be applied. The pendulum can be controlled by a computer, using simple electronic interface circuits. This paper considers first an example from literature that suggests some design principles about the new system. Second, there is a detailed description of the pendulum. Finally, the use of the system in a student's project is presented. The experimental device is easy to build, inexpensive, and has good pedagogical impact

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Education, IEEE Transactions on  (Volume:44 ,  Issue: 2 )