Projeto e Controle de um Pêndulo Invertido Rotacional

Abstract

The modeling and control of nonlinear systems depend on appropriate methods. A large portion of real systems are nonlinear and require methods capable of overcoming these nonlinearities so that they can be used in different applications. Linearization around the operating point is a widely used resource when you want to approximate the dynamics of the non-linear model and make use of linear controllers. The application of control to real systems also depends on the discretization of the model so that a discrete control law can be designed. This is due to the fact the controllers designed are implemented in computers which receive signals from real quantities in discrete values. This work includes the methodology for building a real dynamic system of the rotational inverted pendulum type, the description of the continuous model, the process of linearizing and discretizing the model and the design of the digital controller. The control law is found by the Lyapunov stability method using linear matrix inequalities.