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Resumen

 

 

TOOLS EJS 3D / MATLAB FOR THE CONTROL OF THE APPLIED NON LINEAL SYSTEM TO THE INVERTED PENDULUM ON CAR SLIDE

HERRAMIENTAS EJS 3D/ MATLAB PARA EL CONTROL DEL SISTEMA NO LINEAL APLICADO AL PÉNDULO INVERTIDO SOBRE CARRO DESLIZANTE
MSc. Oscar Oswaldo Rodríguez*
Ing. Ronald Fernando Pineda Pinto*
PhD (c). Pedro Fabián Cárdenas**
*Universidad Pedagógica y Tecnológica de Colombia, **Universidad Nacional
Escuela de Ingeniería Electrónica, Sogamoso, Boyacá,Colombia

Abstract: In this paper is showed a didactic tool for the automatic control teaching based
on the inverted pendulum on sliding car, which is developed in a virtual prototype,
simulating the nonlinear model in Matlab and presented the result in the java 3D
environment. To give solution to the control problem it is necessary to have in
consideration two principal and important aspects as“the swing up” (to take the pendulum
to vertical position) and the swinging (to maintain the pendulum in the vertical position).
The graph user interface (GUI) searches to facilitate the learning of the basic concepts of
a control system for ungraduate and posgraduate students, searching to minimize costs
and time in the teaching.

Keywords: EJS, java, space of states, stability, Matlab, control, nonlinear.

Resumen: En este artículo se presenta una herramienta didáctica para la enseñanza del
control automático basado en el péndulo invertido sobre carro deslizante, el cual se
desarrolla sobre un prototipo virtual, simulando el modelo no lineal en matlab y
presentado en un entorno java de 3D. Para dar solución al problema del control, se tienen
en cuenta dos aspectos principales como los son el “swing up” (llevar el péndulo a
posición vertical) y el balanceo (mantener el péndulo en la posición vertical). La interfaz
al usuario (GUI) busca facilitar el aprendizaje de los conceptos básicos de un sistema de
control para estudiantes de pregrado y posgrado, buscando minimizar costos y tiempo en
la enseñanza.

Palabras clave: EJS, java, espacio de estados, controlabilidad, Matlab, control, no lineal.