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Resumen

 

 

DESIGN AND IMPLEMENTATION OF AN INVERTED PENDULUM ON A CART APPLYING CONTROL STRATEGIES BASED ON LMI’S

DISEÑO E IMPLEMENTACIÓN DE UN PÉNDULO INVERTIDO SOBRE UN CARRO APLICANDO ESTRATEGIAS DE CONTROL BASADO EN LMI
MSc. Oscar Oswaldo Rodríguez, Ing. Helvert Edgardo Cely
Ing. Jeiler Alonso Riaño
Universidad Pedagógica y Tecnológica de Colombia Seccional Sogamoso
Escuela de Ingeniería Electrónica, Sogamoso, Boyacá, Colombia

Abstract: In this paper presents the design and implementation of a inverted pendulum
prototype on a cart, using two control strategies; one for “swing up” and the other one for
stabilization of unstable equilibrium point from linear matrix inequalities (LMI´s). The
prototype is composed of a pivot or rod that rotates freely on one end by a joint located on
a cart, which moves on a straight horizontal rack driven by a DC motor. The controllers
design is implemented on the prototype built to analyze the characteristics of the
controller and determine differences among the simulation results.

Keywords: Controlability, linear matrix inequalities, stability, observability, inverted
pendulum.

Resumen: Este artículo presenta el diseño e implementación de un prototipo de péndulo
invertido sobre un carro, aplicando dos estrategias de control, una para “swing up” y la
otra para estabilización en el punto de equilibrio inestable a partir de desigualdades
matriciales lineales (LMI´s). El prototipo está compuesto por un pivote o varilla que gira
libremente por uno de sus extremos mediante una articulación situada sobre un carro, el
cual se mueve sobre una cremallera rectilínea horizontal manejado por un motor DC. El
diseño de los controladores se implementa sobre el prototipo construido con el fin de
analizar las características del controlador y determinar las diferencias de los resultados
obtenidos en la simulación.

Palabras clave: Controlabilidad, desigualdades matriciales lineales, estabilidad,
observabilidad, péndulo invertido.