Abstract: An inverted pendulum has been used as the controlled device in a prototype real-time control system employing the Simplex architecture. In this report, we address the control issues of such a system in an analytic way. In particular, an analytic model of the system is derived; control algorithms are designed for the baseline control, experimental control and safety control based on the concept of analytic redundancy; the safety region is obtained as the stability region of the system under the safety control; and the control switching logic is established to provide fault tolerant functionality.
Introduction: An inverted pendulum has been used as a controlled device in a prototype control system employing the Simplex architecture. As shown in Figure 1, the physical system consists of a cart, driven by a DC motor, and a pendulum attached to the cart. The cart can move along a horizontal track, and the pendulum is able to rotate freely in the range of [ 30 ,30 ] o o − with respect to vertical in the vertical plane parallel to the track. There is no direct control applied to the pendulum…
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