Control System for Position and Angle, Inverted Pendulum

This training system provides students with lessons on typical control problems including classical position control with standard controllers and model-based multi-variable control in state space. The swinging up and balancing of a pendulum rod (inverted pendulum) rotatably mounted on a carriage by purely horizontal accelerations of the carriage presents a particular challenge. The principle can be transferred, among other applications, to the control of the Segway PT. In addition, the user is taught the basic handling of coupled multiple input/output systems in a practical way.

In combination with the Lucas-Nülle Toolbox, different control algorithms are created in MATLAB and Simulink and tested in the simulation. Hardware code is then generated from the Simulink model at the push of a button and transferred to the control unit. While the programmable control unit controls the real system, process data is exchanged in real time with MATLAB on the host PC. In this way, the complete development process for control algorithms from simulation to hardware application can be implemented.